Abb FCAN-01 User Manual

Options for ABB drives, inverters and converters

User’s manual

FCAN-01 CANopen adapter module

List of related manuals

See section Related manuals on page 16.

User’s manual

FCAN-01 CANopen adapter module

Table of contents

1. Safety

4. Mechanical installation

5. Electrical installation

6. Start-up

3AFE68615500 Rev D EN EFFECTIVE: 2012-01-25

Table of contents 5

Table of contents

1. Safety

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Use of warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Safety in installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2. About the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Terms and abbreviations used in this manual . . . . . . . . . . . . . . 19

Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

CANopen abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3. Overview of the CANopen protocol and the FCAN-01 adapter module

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

CANopen protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Topology of the CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . 24

FCAN-01 CANopen adapter module . . . . . . . . . . . . . . . . . . . . . 25

Layout of the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4. Mechanical installation

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Delivery check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Mounting the adapter module . . . . . . . . . . . . . . . . . . . . . . . . . . 28

5. Electrical installation

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

6 Table of contents

General cabling instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Connecting the module to the CANopen network . . . . . . . . . . . 30

Bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

AC and DC parameters for the CANopen network . . . . . . . . . . . 32

Bus cable and termination resistors . . . . . . . . . . . . . . . . . . . 32

6. Start-up

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Drive configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

CANopen connection configuration . . . . . . . . . . . . . . . . . . . 36

Data transfer rates supported. . . . . . . . . . . . . . . . . . . . . 36

FCAN-01 configuration parameters – group A (group 1) 37 FCAN-01 configuration parameters – group B (group 2) 51 FCAN-01 configuration parameters – group C (group 3) 54 Additional information on the virtual address area

allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Control locations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Starting up ACS355 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Parameter setting examples – ACS355 . . . . . . . . . . . . . . . . 59

CiA 402 vl velocity mode with default PDO mapping . . . 59 Speed and torque control using ABB Drives communication profile with parameter-configured PDO

mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Starting up ACSM1 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Parameter setting examples – ACSM1 . . . . . . . . . . . . . . . . 66

Using position control with the CiA 402 Profile Position

mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Starting up ACS850 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Parameter setting examples – ACS850 . . . . . . . . . . . . . . . . 70

CiA 402 Velocity mode with default PDO mapping . . . . 70

ABB Drives communication profile with parameter-

configured PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . 72

Starting up ACS880 drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Parameter setting examples – ACS880 . . . . . . . . . . . . . . . . 76

CiA 402 Velocity mode with default PDO mapping . . . . 76

Configuring the master station . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Table of contents 7

EDS files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Configuring an ABB AC500 PLC . . . . . . . . . . . . . . . . . . . . . 79

7. Communication profiles

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Communication profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

CANopen device profile CiA 402 . . . . . . . . . . . . . . . . . . . . . . . . 89

Device Control state machine . . . . . . . . . . . . . . . . . . . . . . . 89

Modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Position demand value. . . . . . . . . . . . . . . . . . . . . . . . . . 91

Position actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Interpolated position mode . . . . . . . . . . . . . . . . . . . . . . . . . 91

Profile velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Target velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Velocity actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Profile torque mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Target torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Torque actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Target velocity of CiA 402 Velocity mode . . . . . . . . . . . 93

Control effort of CiA 402 Velocity mode . . . . . . . . . . . . . 93

Control word and Status word of the CiA 402 profile . . . . . . 93

State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . 100

Control word and Status word . . . . . . . . . . . . . . . . . . . . . . 100

Control word contents . . . . . . . . . . . . . . . . . . . . . . . . . 100

Status word contents . . . . . . . . . . . . . . . . . . . . . . . . . . 103

State machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

8 Table of contents

8. Communication protocol

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

FCAN-01 boot-up sequence and

Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . 111

Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 113

Rx PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

Tx PDO1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Rx PDO6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

Tx PDO6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

Rx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

Tx PDO21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Mapping format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

PDO configuration via the CAN bus . . . . . . . . . . . . . . . . . . . . . 121

Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . 124

SDO Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

SDO Upload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Read Service (SDO Upload) . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Initiate SDO Upload Protocol . . . . . . . . . . . . . . . . . . . . . . . 126

Write Service (SDO Download) . . . . . . . . . . . . . . . . . . . . . . . . 127

Initiate SDO Download Protocol . . . . . . . . . . . . . . . . . . . . 127

Abort SDO Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Abort SDO Transfer Protocol . . . . . . . . . . . . . . . . . . . . . . . 128

Abort code description . . . . . . . . . . . . . . . . . . . . . . . . . 129

CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Object Dictionary Structure . . . . . . . . . . . . . . . . . . . . . . . . 131

Communication profile area (1000...1FFF) . . . . . . . . . . . . 132

Manufacturer-specific profile area (2000...5FFF) . . . . . . . . 142

Manufacturer-specific profile objects . . . . . . . . . . . . . . 142

Drive actual signals and parameters . . . . . . . . . . . . . . 143

Standardized device profile area (6000...9FFF) . . . . . . . . 145

9. Diagnostics

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

LED indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Table of contents 9

10. Technical data

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

FCAN-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

CANopen link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

11. Appendix A – Dictionary structure and entries

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

Description of transmission type . . . . . . . . . . . . . . . . . . . . . . . 158

Description of PDO COB-ID entry . . . . . . . . . . . . . . . . . . . . . . 158

PDO mapping entry structure – example . . . . . . . . . . . . . . . . . 159

12. Appendix B – CANopen error codes

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Further information

Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . 171

Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . 171

10 Table of contents

Safety 11

Safety

What this chapter contains

The chapter presents the warning symbols used in this manual and the safety instructions which you must follow when installing an optional module into a drive, converter or inverter. If ignored, physical injury or death may follow, or damage may occur to the equipment. Read this chapter before you start the installation.

12 Safety

Use of warnings

Warnings caution you about conditions which can result in serious injury or death and/or damage to the equipment and advise on how to avoid the danger. The following warning symbols are used in this manual:

Electricity warning warns of hazards from electricity which can cause physical injury and/or damage to the equipment.

General warning warns about conditions, other than those caused by electricity, which can result in physical injury and/or damage to the equipment.

Safety 13

Safety in installation

These warnings are intended for all who install an optional module into a drive, converter or inverter.

WARNING! Ignoring the following instructions can cause physical injury or death, or damage to the equipment.

• Only qualified electricians are allowed to install and maintain

the drive, converter or inverter!

• Disconnect the drive, converter or inverter into which the

optional module will be installed from all possible power sources. After disconnecting, always wait for 5 minutes to let the intermediate circuit capacitors discharge before you proceed.

• Always ensure by measuring with a multimeter (impedance at

least 1 Mohm) that:

• there is no voltage between the input power terminals of

the drive, converter or inverter and the ground

• there is no voltage between the output power terminals of

the drive, converter or inverter and the ground.

• Do not work on the control cables when power is applied to the

external control circuits of the drive, converter or inverter. Externally supplied control circuits may carry dangerous voltage.

14 Safety

About the manual 15

About the manual

What this chapter contains

This chapter introduces this manual.

Applicability

This manual applies to the FCAN-01 CANopen adapter module (+K457), SW version 1.046 or later.

Compatibility

The FCAN-01 CANopen adapter module is compatible with the following drives:

• ACS355

• ACSM1

• ACS850

• ACS880.

Target audience

The reader is expected to have basic knowledge of fieldbus interface, electrical fundamentals, electrical wiring practices and how to operate the drive.

16 About the manual

Purpose of the manual

The manual provides information on installing, commissioning and using an FCAN-01 CANopen adapter module.

Related manuals

The related manuals are listed below.

Code (English)

Drive user’s manuals

ACS355 drives (0.37…22 kW,

0.5…30 hp) user’s manual

Drive hardware manuals and guides

ACSM1-204 regen supply modules (5.3 to 61 kW) hardware manual

ACSM1-04 drive modules (0.75 to 45 kW) hardware manual

ACSM1-04 drive modules (55 to 110 kW) hardware manual

ACSM1-04Lx liquid-cooled drive modules (55 to 160 kW) hardware manual

ACS850-04 (0.37…45 kW) hardware manual

ACS850-04 (55…160 kW, 75…200 hp) hardware manual

ACS850-04 (200…500 kW, 250…600 hp) hardware manual

ACS880-01 (0.55 to 250 kW, 0.75 to 350 hp) hardware manual

3AUA0000066143

3AUA0000053713

3AFE68797543

3AFE68912130

3AUA0000022083

3AUA0000045496

3AUA0000045487

3AUA0000026234

3AUA0000078093

About the manual 17

Code (English)

Drive firmware manuals and guides

ACSM1 motion control program firmware manual

ACSM1 speed and torque control program firmware manual

ACSM1 regen supply control program firmware manual

ACS850 standard control program firmware manual

ACS880 primary control program firmware manual

Option manuals and guides

FCAN-01 CANopen adapter module user’s manual

3AFE68848270

3AFE68848261

3AUA0000052174

3AUA0000045497

3AUA0000085967

3AFE68615500

You can find manuals and other product documents in PDF format on the Internet. See section Document library on the Internet on the inside of the back cover. For manuals not available in the Document library, contact your local ABB representative.

Before you start

It is assumed that the drive is installed and ready to operate before you start the installation of the adapter module.

In addition to conventional installation tools, have the drive manuals available during the installation as they contain important information not included in this manual. The drive manuals are referred to at various points of this manual.

18 About the manual

The manual consists of the following chapters:

• Safety presents the safety instructions which you must follow

when installing a fieldbus adapter module.

• About the manual introduces this manual.

• Overview of the CANopen protocol and the FCAN-01 adapter

module contains a short description of the CANopen protocol

and the adapter module.

• Mechanical installation contains a delivery checklist and

instructions on mounting the adapter module.

• Electrical installation contains wiring and bus termination

instructions.

• Start-up presents the steps to take during the start-up of the

drive with the adapter module and gives examples of

configuring the master system.

• Communication profiles describes the communication profiles

used in communication between the CANopen network, the

adapter module and the drive.

• Communication protocol describes the communication on a

CANopen network.

• Diagnostics explains how to trace faults with the status LEDs

on the adapter module.

• Technical data contains the technical data of the adapter

module and the CANopen link.

• Appendix A – Dictionary structure and entries contains

information about PDO transmission and mapping.

• Appendix B – CANopen error codes contains reference tables

for decoding CANopen error messages.

About the manual 19

Terms and abbreviations used in this manual

 Terms

Term Explanation

Communication module Communication module is a name for a device

Command word See Control word.

Control word 16-bit or 32-bit word from master to slave with

FCAN-01 CANopen adapter module

Object dictionary Local storage of all Communication Objects

Parameter Operating instruction for the drive. Parameters

Profile Adaptation of the protocol for certain application

Status word 16-bit or 32-bit word from slave to master with

(eg, a fieldbus adapter) through which the drive is connected to an external communication network (eg, a fieldbus). The communication with the module is activated with a drive parameter.

bit-coded control signals (sometimes called the Command word)

One of the optional fieldbus adapter modules available for ABB drives. FCAN-01 is a device through which an ABB drive is connected to a CANopen network.

(COB) recognized by a device

can be read and programmed with the drive control panel, drive PC tools or through the adapter module.

field, for example, drives. In this manual, driveinternal profiles (eg, DCU or FBA) are called native profiles.

bit-coded status messages

20 About the manual

 CANopen abbreviations

Abbreviation Explanation

CAN Controller Area Network

CiA CAN in Automation, International User’s and

CMS CAN Message Specification; one of the service

COB Grouping of pre-defined data objects accessible

DBT Distributor; one of the service elements of the

EDS Electronic Data Sheet; a node-specific ASCII-

LMT Layer Management; one of the service

LSB Least significant bit/byte

MSB Most significant bit/byte

NMT Network Management; one of the service

OSI Open Systems Interconnection

PDO Process Data Object; a type of COB. Used for

Manufacturer’s Group

elements of the CAN Application Layer in the CAN Reference Model

via the network.

CAN Application Layer in the CAN Reference Model. It is the responsibility of the Distributor to distribute COB IDs to the COBs that are used by a CMS.

format file required when configuring the CAN network. The EDS file contains general information on the node and its dictionary objects (parameters). EDS files for ABB Drives are available at the Document library (www.abb.com/drives

elements of the CAN Application Layer in the CAN Reference Model. It serves to configure parameters for each layer in the CAN Reference Model.

elements of the CAN Application Layer in the CAN Reference Model. It performs initialization, configuration and error handling on a CAN network.

transmitting time critical data, such as control commands, references and actual values.

About the manual 21

Abbreviation Explanation

RO Denotes read-only access.

RW Denotes read/write access.

SDO Service Data Object; a type of COB. Used for

transmitting non-time-critical data, such as parameters.

22 About the manual

Overview of the CANopen protocol and the FCAN-01 adapter module 23

Overview of the CANopen protocol and the FCAN-01 adapter module

What this chapter contains

This chapter contains a short description of the CANopen protocol and the FCAN-01 CANopen adapter module.

CANopen protocol

CANopen is a higher layer protocol based on the CAN (Control Area Network) serial bus system and the CAL (CAN Application Layer). CANopen assumes that the hardware of the connected device has a CAN transceiver and a CAN controller as specified in ISO 11898.

The CANopen Communication Profile, CiA 301, includes both cyclic and event driven communication, which makes it possible to reduce the bus load to minimum while still maintaining extremely short reaction times. High communication performance can be achieved at relatively low baud rates, thus reducing EMC problems and cable costs.

CANopen device profiles define both direct access to drive parameter and time critical process data communication. The adapter module fulfills CiA (CAN in Automation) specification CiA 402 (CANopen device profile for drives and motion control).

24 Overview of the CANopen protocol and the FCAN-01 adapter module

CANopen

master

ABB drive

Other slave

device

T = Termination

ABB drive

Other slave

device

Other slave

device

ABB drive

The physical medium of CANopen is a differentially driven two wire bus line with common return according to ISO 11898. The maximum length of the bus is limited by the communication speed.

The maximum theoretical number of nodes is 127. However, in practice, the maximum number depends on the capabilities of the used CAN transceivers.

Further information is available from the CAN in Automation International Users and Manufacturers Group (www.can-cia.org

Topology of the CANopen link

The following figure describes the topology of the CANopen link.

Overview of the CANopen protocol and the FCAN-01 adapter module 25

FCAN-01 CANopen adapter module

The FCAN-01 CANopen adapter module is an optional device for ABB drives. It enables the connection of the drive to a CANopen network. The drive is considered as a slave (server) on the CANopen network.

Through the adapter module you can:

• give control commands to the drive

(for example, Start, Stop, Run enable)

• feed a motor speed, torque or position reference to the drive

• give a process actual value or a process reference to the PID

controller of the drive

• read status information and actual values from the drive

• change drive parameter values

• reset a drive fault.

The CANopen commands and services supported by the adapter module are discussed in chapter Communication protocol. Refer to the drive manuals as to which commands are supported by the drive.

The adapter module is mounted into an option slot on the motor control board of the drive. See the drive manuals for module placement options.

26 Overview of the CANopen protocol and the FCAN-01 adapter module

Diagnostic LEDs (see chapter Diagnostics)

Bus connector X1 (see chapter Electrical

installation)

Mounting screw

Layout of the adapter module

The following figure describes the layout of the adapter module.

Mechanical installation 27

Mechanical installation

What this chapter contains

This chapter contains a delivery checklist and instructions on mounting the adapter module.

WARNING! Follow the safety instructions given in this manual and the drive documentation.

Delivery check

The option package for the adapter module contains:

• CANopen adapter module, type FCAN-01

• this manual.

28 Mechanical installation

Mounting the adapter module

The adapter module is inserted into its specific position in the drive. The module is held in place with plastic pins and one screw. The screw also provides the electrical connection between the module and drive frame for cable shield termination.

When the module is installed, the signal and power connection to the drive is made through a 20-pin connector. (All drives do not use all the available signals so the connector on the drive may have fewer pins.)

Mounting procedure:

1. Insert the module carefully into its position on the drive.

2. Fasten the screw.

Note: It is essential to install the screw properly to fulfill the EMC requirements and to ensure the proper operation of the module.

For more information on mounting the adapter module, see the drive manuals.

Electrical installation 29

Electrical installation

What this chapter contains

This chapter contains:

• general cabling instructions

• bus termination instructions

• instructions on connecting the adapter module to the CANopen

network.

WARNING! Before installation, switch off the drive power supply. Wait five minutes to ensure that the capacitor bank

of the drive is discharged. Switch off all dangerous voltages connected from external control circuits to the inputs and outputs of the drive.

General cabling instructions

• Arrange the bus cables as far away from the motor cables as

possible.

• Avoid parallel runs.

• Use bushings at cable entries.

30 Electrical installation

SUB-D9 (male)

Connecting the module to the CANopen network

Connect the bus cable to connector X1 on the adapter module.

The connector pin allocation described below follows the CANopen specification CiA 301.

X1 Description

1- Not in use

2 CAN_L CAN_L bus line (dominant low)

3 CAN_GND CAN ground

4- Not in use

5 CAN_SHLD Optional CAN shield

6 GND Optional ground

7 CAN_H CAN_H bus line (dominant high)

8- Not in use

9 CAN_V+ Optional CAN external power supply. Not supported

by FCAN-01.

+ 142 hidden pages