How it Works
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RedCAN
Operating guide
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Danfoss RedCAN Operating guide

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User Manual
PLUS+1® GUIDE
Extended Dynamic RedCAN
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User Manual
PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Revision history Table of revisions
Date Changed Rev
December 2019 Converted to Engineering Tomorrow standards 0201
January 2013 Check Appendix modes added AD
March 2010 First revision AB
January 2010 Original revision AA
2 | © Danfoss | December 2019 AQ00000114en-000201
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual

Contents

Risk Reduction
Downloading and testing your applications..........................................................................................................................4
Important information to reduce risk....................................................................................................................................... 4
Fault checking and error handling.............................................................................................................................................4
Introduction
Overview..............................................................................................................................................................................................5
Normal CAN structure............................................................................................................................................................... 5
RedCAN structure........................................................................................................................................................................5
Transparent connection mode...............................................................................................................................................6
Normal connection mode........................................................................................................................................................6
Redundant connection mode................................................................................................................................................ 7
RedCAN Overview
Overview..............................................................................................................................................................................................8
Description.................................................................................................................................................................................... 8
RedCAN inputs.............................................................................................................................................................................8
RedCAN Outputs......................................................................................................................................................................... 8
Block Functions
Block types........................................................................................................................................................................................10
Link block..........................................................................................................................................................................................10
Link block inputs............................................................................................................................................................................ 10
Link block outputs.........................................................................................................................................................................11
Beat block......................................................................................................................................................................................... 11
Beat block inputs............................................................................................................................................................................11
Beat block outputs.........................................................................................................................................................................12
Diagnostic block.............................................................................................................................................................................13
Diagnostic block inputs...............................................................................................................................................................13
Diagnistic block outputs..............................................................................................................................................................13
Freeze block.....................................................................................................................................................................................14
Freeze block inputs....................................................................................................................................................................... 14
Freeze block outputs.................................................................................................................................................................... 14
Relays block......................................................................................................................................................................................14
Relays block inputs........................................................................................................................................................................14
Relays block outputs.....................................................................................................................................................................15
Theory of Operations
Theory of operation...................................................................................................................................................................... 16
Troubleshooting
Possible error conditions.............................................................................................................................................................21
Fixing errors..................................................................................................................................................................................... 21
Table of errors and system reactions......................................................................................................................................21
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual

Risk Reduction

Downloading and testing your applications

Once you have created an application, you have the responsibility to download and test the application. You should only download your application to hardware or change software parameters while the
vehicle is not in operation. After downloading, test application operation under normal and abnormal operating conditions. You should make sure that:
•
Individual inputs produce expected outputs .
•
Combinations of inputs do not produce unexpected or dangerous outputs
•
Fault handling and error checking work as designed

Important information to reduce risk

The applications that you create with the PLUS+1® GUIDE Service Tool program typically control heavy, powerful, and mobile off-road equipment such as tractors, cranes, and harvesters.

Fault checking and error handling

The PLUS+1® GUIDE Service Tool program has no automatic protections against these risks. The Service Tool has no protection against the risks that result from bugs in the Service Tool software, errors in the Service Tool manual, or incompatibilities between software versions of the Service Tool.
You must design and test your application to reduce these risks. You have the responsibility when designing a Service Tool application to include the checking and the
error handling needed to reduce risks in normal and abnormal operating conditions. The following are some items to consider when developing fault checking and error handling for your
application:
•
How the machine is normally used.
•
Possible operator errors and their consequences.
•
Industry safety standards and legal requirements.
•
Input and output failures and their consequences. These failures can include:
•
Joystick, sensor, and other inputs suddenly going to 100 % or to O %.
‒
Outputs that control machinery direction, speed, and force suddenly changing direction or going
‒
to 100 % or to O %.
Decide how likely each failure is. The more likely a failure, the more you need protect against the consequences of the failure .
•
The sequence of events and consequences of a fault or error.
•
The sequence of events and consequences of an emergency stop.
Warning
Under normal operating conditions, using this type of machinery always involves risk of personal injury and equipment damage. Abnormal operating conditions increase the risk of personal injury and equipment damage.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual

Introduction

Overview

Normal CAN structure

A normal CAN structure is illustrated below. There is one single CAN connection per module. Bus termination is handled with external resistors.
Normal CAN Structure
Danfoss RedCAN is based on a redundant CAN communication principal. RedCAN uses two CAN connections per module. The modules are connected in a ring structure to provide a second path for communication in the event of a segment error.

RedCAN structure

RedCAN Structure
Termination of the bus is handled automatically inside the ECU by the RedCAN connection. No external resistors are required.
System behavior depends on parameter settings. Incorrect parameters may lead to system malfunction. It is recommended to disconnect the controller from the system and set parameters before reconnecting it to the system.
RedCAN uses one standard CAN driver with controller but has the additional connecting circuit logics to terminate the bus and provide the second communication path in the event of a bus failure.
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CAN Driver
with Controller
R1 R2
RE1
RE2
CAN Driver
with Controller
R1 R2
RE1
RE2
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Introduction

Transparent connection mode

The Connecting Circuit consists of relays that provide three different connection options:
Transparent Mode Normal and Redundant connections are both connected to the CAN controller.
Terminators are not connected.
Transparent connection mode

Normal connection mode

Normal Connection Mode
Both Normal and Redundant connections are terminated. Only Normal connection is connected to the CAN controller.
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CAN Driver
with Controller
R1 R2
RE1
RE2
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Introduction

Redundant connection mode

Redundant Connection Mode
Both Normal and Redundant connections are terminated. Only Redundant connection is connected to the CAN controller.
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RedCAN Overview

Overview

Description

When using Dynamic RedCAN each node has knowledge about its closest neighbors and with that information determines if it should act as a master holding the termination and initiating the fault detection heartbeat or go transparent while waiting for the heartbeat to initiate.

RedCAN inputs

RedCAN function block inuputs
Input Type Range Description
Freeze BOOL — Used to turn off RedCAN Check Appendix BOOL — Used to turn master relays to look opposite
Def System ARRAY (128) U8 — Array containing predefined system. (Lowest ID
Scan BOOL — Initialize a system scan Max Exectime U8 5–255 Maximum execution time during system scan.
Max Timeout U16 75–50000
TimeBase U16 15–10000
CAN Bus — — Extended_ID BOOL —
CAN_ID_Offset U32 0x0-0x1FFFFF00
Node U8 0–127 Port Port — CAN port to use
BusOff BOOL — Error on CAN wire Reset BOOL —
direction.
in position 0, Normal neighbor in position 1, etc).
This is the execution time of the slowest unit on the RedCAN loop and, is used for all units connected to the RedCAN loop. Constant recommended (default 30 ms).
Sets how long to wait for heartbeat message before regarded as error. Minimum default setting is 5 times greater than Time Base (450 ms).
Sets detection timeout and heartbeat rate. (how often the heartbeat should be sent). Minimum default setting is 3 times greater than Max_ExecTime (90 ms).
Use extended CAN message IDs Offset for CAN ID to put messages in a desirable
range. Messages used are in this range (0x00– 0xFF) + Offset.
Number to distinguish nodes from each other
Output activated -> Reset BusOff (delete connection in Unit_Config).

RedCAN Outputs

Ouput Type Range Description
OS_Out RedCAN_RelayMode U8 0–2
Status Bus
0: Transparent 1: Normal 2: Redundant This signal is either the signal from the RedCAN_ Link block or the signal decided from the diagnostic tool.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
RedCAN Overview
Ouput Type Range Description
Mode S16 -1–4
NbrOfNodes U8 0–128
MisplacedArray ARRAY (128) U8 —
NodeMisplaced BOOL —
NodeNvrFnd BOOL —
NodeNvrFndArray ARRAY (128) U8 —
Fault Bus BusError BOOL —
Node1 U8 0 – 127
Node2 U8 0 – 127
NodeGone BOOL —
NodeGoneArray ARRAY (128) U8 —
-1: Undefined (no mode has been detected after Startup or Check Appendix) 0: System Ready 1: System Scan 2: Freeze 3: Download 4: Check Appendix
Total number of connected RedCAN nodes in the system.
Holds information about nodes that are not placed as defined system describes.
Flag that informs that there are nodes in the designed system that are not connected.
Flag that informs that there are nodes in the designed system that are not connected.
Holds information about nodes that are not connected.
A wire error has been detected. The error is on Normal side of this node (only
certain if all N-R connections). The error is on the Redundant side of this node
(only certain if all N-R connections). Flag that informs that a node has disappeared
from the system after startup. Holds information about nodes that have been
lost since startup.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual

Block Functions

Block types

The Extended implementation consists of five separate block parts:
•

Link Block

•
Beat Block
•
Diagnostic Block
•
Freeze Block
•
Relays Block
The blocks could all be used in every controller but it could also be that one controller acts as the diagnostic interface and is the only one using the Diagnostic block. Other controllers in the system only need Link and/or Beat blocks.
Link block
The Link Block detects the nodes in the System and their relative positions. It also takes care of bus termination and disconnects faulty segments to keep the bus intact.

Link block inputs

Input Type Range Description
Freeze BOOL — Use to turn off RedCAN Check Appendix BOOL —
System ARRAY (128) U8 —
Scan BOOL — Initialize a system scan Init BOOL —
Delay U16 0–65535
Max Exectime U8 5–255
CAN Bus — — Extended_ID BOOL —
CAN_ID_Offset U32
Node U8 0–127 Port — — CAN port to use
BusOff BOOL — Error on CAN wire Reset BOOL —
0x0­0x1FFFFF00
Use to turn master relays to look opposite direction. Enables detection of some faults that may otherwise be missed.
Array containing actual system (Lowest ID in position 0, Normal neighbor in Position 1, etc).
Controls whether a scan should be initiated on power up. T: Scan is initiated on power up. F: No scan, system is regarded as correct.
Sets the delay time before heartbeat is enabled. This is to handle differences in startup time for the nodes in the system. Only valid when init=false.
Maximum execution time during system scan. Constant recommended (default 30 ms).
Use extended CAN message IDs. Offset for CAN ID to put messages in a desirable
range. Messages used in the range (0x00–0xFF) + offset.
Number to distinguish nodes from each other.
Output activated-> Reset BusOff (delete connection in Unit_Config.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Block Functions

Link block outputs

Output Type Range Description
OS_out Bus — — RedCAN_RelayMode U8 0–2
Status Bus — — Mode S16 -1–4
NodeError BOOL — Ready BOOL — System scan completed
Neighbors Bus — — ClosestNeighb U8 0–127
IStartSprint BOOL —
ImMaster BOOL — ImMstrOpsitNeigh BOOL — LowestRandID U32 0–4294967295
Max_ExecTime U8 0–255 Maximum Max_ExecTime value in the system.
MyRandomID U32 0–4294967295 Needed to handle multiples with same node
NormNeighbNodeID U8 0–127 NormNeighbRandID U32 0–4294967295
OpRandID U32 0–4294967295
OppstNeighb U8 0–127 RedNeighbNodeID U8 0–127 RedNeighbRandID U32 0–4294967295 Needed to handle multiples with same node
0: Transparent 1: Normal 2:Redundant
-1: Undefined (no mode has been detected after Startup or Check Appendix) 0: System Ready 1:System Scan 2: Freeze 3: Download 4: Check Appendix
Error found during system scan
Node ID of the neighbor the side that relays are turned towards.
The lowest node in the system that initiates the heart beat. First position in system array.
The lowest terminating node. Master. The node on the opposite side of the master. Needed to handle multiples with same node
number.
Used to set the limits for beat block timings.
number. Node ID of the normal side neighbor. Needed to handle multiples with same node
number. Needed to handle multiples with same node
number. Node ID of the opposite side neighbor. Node ID of the Redundant side neighbor.
number.

Beat block

The Beat Block detects the absolute position of the nodes (actual system) and detects errors in runtime

Beat block inputs

Input Type Range Description
Enable BOOL — Enable heartbeat function. Connected to Link
Neighbors Bus — Information about the system to determine how
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block output ready by default.
the heartbeat should be sent through the system.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Block Functions
Input Type Range Description
IStartSprint BOOL — The lowest node in the system that initiates the
ImMaster BOOL — The lowest terminating node. Master. ImMstrOpsitNeigh BOOL — The node on the opposite side of the master. LowestRandID U32 0–4294967295 Needed to handle multiples with the same node
Max_ExecTime U8 0–255 Maximum Max_ExecTime MyRandomID U32 0–4294967295 Needed to handle multiples with the same node
NormNeighbNodeID U8 0–127 Node ID of the Normal side neighbor. NormNeighbRandID U32 0–4294967295 Needed to handle multiples with the same node
OpRandID U32 0–4294967295 Needed to handle multiples with the same node
OppstNeighb U8 0–127 Node ID of the opposite side neighbor. RedNeighbNodeID U8 0–127 Node ID of the redundant side neighbor. RedNeighbRandID U32 0–4294967295 Needed to handle multiples with same node
Max Timeout U16 75–50000
TimeBase U16 15–10000
CAN Bus — — Extended_ID BOOL — Use extended CAN message IDs. CAN_ID_Offset U32
Node U8 0–127 Numbers to distinguish nodes from each other. Port — — CAN port to use
0x0­0x1FFFFF00
heartbeat. First position in system array.
number.
number.
number.
number.
number. Sets how long to wait for heartbeat message
before regarded aserror. Minimum default setting is 5 times greater than Time Base (450 ms).
Sets detection timeout and heartbeat rate. (how often the heartbeat should be sent). Minimum default setting is 3 times greater than Max_ExecTime (90 ms).
Offset for CAN ID to put messages in a desirable range (0x00–0xFF) + Offset.

Beat block outputs

Output Type Range Description
Status Bus — — FirstDone BOOL — First heartbeat loop done. MasterMsg ARRAY (128) U8 —
NbrOfNodes U8 0–128
System_OK BOOL — No errors detected. System ARRAY (128) U8 —
Scan BOOL — Initiate a system scan.
Holds information about terminating nodes. Used to report wire errors.
Total number of connected RedCAN nodes in system
Array containing actual system (Lowest ID in position 0, Normal neighbor in Position 1, etc).
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Block Functions

Diagnostic block

The Diagnostic block recieves information from the other two blocks to report different types of error situations.

Diagnostic block inputs

Input Type Range Description
Link Status Bus — Mode S16 -1 –4
NodeError BOOL — BeatStatus Bus — —
FirstDone BOOL — First heartbeat loop done MasterMsg ARRAY (8) U8 —
NbrOfNodes U8 0–128
NodeFault BOOL — Def System ARRAY (128) U8 —
Act System ARRAY (128) U8 —
CAN Bus — — Extended_ID BOOL —
CAN_ID_Offset U32
Port — — CAN port to use
0x0­0x1FFFFF00
-1: Undefined (no mode has been detected after Startup or Check Appendix) 0: System Ready 1: System Scan 2: Freeze 3: Download 4: Check Appendix
An error has been detected during system scan.
Holds information about terminating nodes. Total number of connected RedCAN nodes in
system. A node has failed to pass on the heart beat. Predefined system, what the desired system
looks like. Actual system, how the system looks (Lowest ID
in position 0, Normal neighbor in position 1, etc).
Use Extended CAN message IDs Offset for CAN ID to put messages in a desirable
range. (0x00–0xFF) + Offset

Diagnistic block outputs

Output Type Range Description
Status Bus — — Mode S16 -1–4
NbrOfNodes U8 0–128
MisplacedArray ARRAY (128) U8 —
NodeMissplaced BOOL —
NodeNvrFnd BOOL —
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-1: Undefined (no mode has been detected after Startup or Check Appendix) 0: System Ready 1: System Scan 2: Freeze 3: Download 4: Check Appendix
Total number of connected RedCAN nodes in system.
Holds information about nodes that are not placed as defined system implies.
Flag that informs that there are nodes with wrong position in system.
Flag that informs that there are nodes in the designed system that are not connected.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Block Functions
Output Type Range Description
NodeNvrFndArray ARRAY (128) U8 —
Fault Bus — — BusError BOOL —
Node1 U8 0–127
Node2 U8 0–127
NodeGone BOOL —
NodeGoneAway ARRAY (128) U8 —

Freeze block

The Freeze block listens to CAN message KP0 from the Service Tool to set RedCAN to freeze. Therefore it will keep its current status and will not react to any faults.
Holds information about nodes that are not connected.
A wire error has been detected. There is an error between Node 1 and Node 2.
The error is on the Normal side of this node. (Only certain if all N–R connections).
There is an error between Node 1 and Node 2. The error is on the Redundant side of this node. (only certain if all N–R connections)
Flag that informs that a node has disappeared from the system after startup.
Holds information about nodes that have been lost since startup.

Freeze block inputs

Freeze block outputs

Relays block

Relays block inputs

Input Type Range Description
CAN Bus — — Node U8 0–127
Port — — CAN port to use
Output Type Range Description
Freeze BOOL — Checkpoint — — —
CP_RedCANFreeze
Number to distinguish nodes from each other
Freeze set from diagnostic tool
Shows current freeze status
The Relays block controls the steering of the RedCAN relays. When the RedCAN block is in freeze, it is possible to set the relays to either Transparent, Normal or Redundant. The Relays block listens to CAN message KP136.
Input Type Range Description
Freeze BOOL — CAN Bus — —
Node U8 0–127 Port — — CAN port to use
Freeze set from diagnostic tool
Number to distinguish nodes from one another
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Block Functions
Input Type Range Description
OS_In Bus — — RedCAN_RelayMode U8 0–2

Relays block outputs

Output Type Range Description
OS_Out — — — RedCAN_RelayMode U8 0–2
Checkpoint — — — CP_RedCANRelayMod U8 0–2
0: Transparent 1: Normal 2: Redundant The signal coming from the RedCAN_Link block. This is the signal determined from the last linking of the units.
0: Transparent 1: Normal 2: Redundant This signal is either the signal from the RedCANLink block or the signal decided from the service tool.
Shows the current status of the RedCAN relay mode.
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual

Theory of Operations

Theory of operation

When the system is complete and there are no faults, each node could be in any of the following states:
Scanning. No Neighbor found
Normal neighbor found. Perform handshake.
Redundant neighbor found. Perform handshake
Own node ID: 2, Lowest node ID: 2. None found: Lowest = Own
Own node ID: 2, Lowest node ID: 2, Normal neighbor: 3
Own node ID: 3, Lowest node ID: 2, Redundant neighbor: 2
Lower node ID detected. Set Transparent
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Own node ID: 2, Lowest node ID: 1, Own ID (2) >Lowest ID (1), Normal neighbor : 3, Redundant neighbor : 1
2
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Theory of Operations
Node is detected as lowest Node ID, terminate and ask for opposite neighbor
Node is asked for as opposite neighbor. Reply
Lowest Node ID has recieved reply from opposite neighbor. Ring is complete and • heart beat is initiated
Own Node ID : 1, Lowest Node ID : 1, Own ID (1) = Lowest ID, Normal neighbor : 2, Redundant neighbor : 5, Opposite neighbor : 5
Own Node ID :5, Lowest Node ID : 1, Normal neighbor : 1, Redundant neighbor : 4, Opposite neighbor : 5, Own ID (5) : Opposite neighbor
At start up, or if an error is detected, a scan system is initialized:
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Lowest Known ID
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2 1
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Lowest Known ID
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1 1 2 1
2 1
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2 >1
3 > 2
1
1
Lowest Known ID
4 > 3
3
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Theory of Operations
The position in the system determines if the node should turn to the normal or the redundant side:
When the neighbor has been detected or if the random time out passes, the node turns toward the opposite side.
When the Node ID is not the lowest known ID in the system and both neighbors are found, the node turns transparent.
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Lowest Known ID
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PLUS+1® GUIDE Extended Dynamic RedCAN User Manual
Theory of Operations
The lowest known ID in the system takes the role of master and holds termination for the system.
The lowest known ID in the system takes the role of master and holds termination for the system.
Then turns and ask for other opposite neighbor to ensure a complete system and the opposite neighbor applies.
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Theory of Operations
The master then sends out a system OK and initiates the heart beat.
Theory of operation: Summary
When the system is connected (Mode = 0), a heartbeat message is transmitted to confirm a healthy communication path. Each node then listens to the heartbeat messages from its two neighbors and if one of the messages does not come through an error is declared and a new scan is initiated.
To determine the exact setup of the system, a sequence of messages is sent from the master node to it’s neighbor in normal direction. The messages are then passed on to the next neighbor until the complete system is covered. In this way, all nodes will get information about the complete system setup and it can be compared with the predefined system to detect errors in node order.
It is optional to scan at power up. If init is false, a scan is not triggered and the system input is used as a predefined system to determine the master node (terminating and starting the heart beat). The entire ring is always checked at startup by the master asking for opposite neighbors in both directions.
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Troubleshooting

Possible error conditions

This table identifies errors that could possibly occur:
Problem Possible Cause
Bus/segment errors CAN wires shortened, faulty ground connection Node missing/ not responding or ‘babbling idiot’
behavior Node misplaced Positions in actual system differ from defined system

Fixing errors

The time to detect an error and fix it depends on the parameter settings. The parameter ‘Time Base’ sets the timeout for the heartbeat message. This is the error detection time. The parameter ‘Max_ExecTime’ is used to calculate how long a node will wait for a response before changing direction during a scan. The theoretical worst case scan time is 112*Max_ExecTime, calculated based on the total timeout. The theoretical best time is 32*Max_ExecTime, based on the time for communicating only (no waiting time).
The total fix time is the sum of error detection time and scan time:
•
Worst Case fix time: TimeBase + 112*Max_ExecTime
•
Best Case fix time: Time Base + 32*Max_ExecTime
All nodes in defined system are not present in actual system

Table of errors and system reactions

If several errors appear at once, they are all reported but a functional system cannot be guaranteed if more than one error occurs at the same time.
RedCAN is able to handle the first error and report where the first error occurs so it can be fixed. But, if that error is not fixed then there is no guarantee that the system will continue to work if another error is occurring.
Output Type Range Description
Status Bus — — Mode S16 -1–4
NbrOfNodes U8 0–128
MisplacedArray ARRAY (128) U8 —
NodeMissplaced BOOL —
NodeNvrFnd BOOL —
NodeNvrFndArray ARRAY (128) U8 —
Fault Bus — — BusError BOOL —
Node1 U8 0–127
-1: Undefined (no mode has been detected) 0: System Ready 1: System Scan 2: Freeze 3: Download 4: Check Appendix
Total number of connected RedCAN nodes in system
Holds information about nodes that are not placed as defined system implies.
Flag that informs that there are nodes with wrong position in system.
Flag that informs that there are nodes in the designed system that are not connected.
Holds information about nodes that are not connected.
A wire error has been detected. There is an error between Node 1 and Node 2.
The error is on the Normal side of this node. (Only certain if all N–R connections).
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Troubleshooting
Output Type Range Description
Node2 U8 0–127
NodeGone BOOL —
NodeGoneAway ARRAY (128) U8 —
There is an error between Node 1 and Node 2. The error is on the Redundant side of this node (only certain if all N–R connections).
Flag that informs that a node has disappeared from the system after startup.
Holds information about nodes that have been lost since startup.
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Danfoss Power Solutions is a global manufacturer and supplier of high-quality hydraulic and electric components. We specialize in providing state-of-the-art technology and solutions that excel in the harsh operating conditions of the mobile off-highway market as well as the marine sector. Building on our extensive applications expertise, we work closely with you to ensure exceptional performance for a broad range of applications. We help you and other customers around the world speed up system development, reduce costs and bring vehicles and vessels to market faster.
Danfoss Power Solutions – your strongest partner in mobile hydraulics and mobile electrification.
Go to www.danfoss.com for further product information.
We offer you expert worldwide support for ensuring the best possible solutions for outstanding performance. And with an extensive network of Global Service Partners, we also provide you with comprehensive global service for all of our components.
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Danfoss can accept no responsibility for possible errors in catalogues, brochures and other printed material. Danfoss reserves the right to alter its products without notice. This also applies to products already on order provided that such alterations can be made without subsequent changes being necessary in specifications already agreed. All trademarks in this material are property of the respective companies. Danfoss and the Danfoss logotype are trademarks of Danfoss A/S. All rights reserved.
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Danfoss | December 2019 AQ00000114en-000201
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