SPEEDAM 2010
International Symposium on Power Electronics,
Electrical Drives, Automation and Motion
ANPC-5L Technology Applied to Medium
Voltage Variable Speed Drives Applications
F. Kieferndorf*, M. Basler**, L. A. Serpa*, J.-H. Fabian*, A. Coccia*, G. A. Scheuer**
ABB Switzerland Ltd
** Power Electronics and MV Drives, (Switzerland)
* Corporate Research, (Switzerland)
Abstract - A new medium voltage drive has been
developed based on the active neutral-point clamped 5-level
(ANPC-5L) topology with the option of transformerless
network connection. In the last decade three-level neutral-
point clamped (NPC) converters have become the industry
standard in MV Drives. Although the three-level NPC
converter has proven itself in the toughest applications in
industry, the call for more efficient use of energy has raised
the demand for converters to be used with standard
catalogue motors, both for retrofit and new installations.
The option to avoid the additional cost of the input
transformer in such applications is also a great advantage.
The structure of the converter will be described with an
explanation of the multiple levels of redundancy available.
The necessary conditions for regulating the neutral-point
and phase (or floating) capacitor voltages will be illustrated.
The direct torque control (DTC) method is used in the
inverter control. The synchronous frame current regulator
used for rectifier control allows for full four-quadrant
operation on the network side. The modular mechanical
design philosophy will be displayed along with the salient
technical features: rectifier and inverter operating
waveforms, protection concept, and ride through behavior.
Finally, experience in pilot installations will be described.
Index Terms -- multilevel systems, motor drives, medium
voltage, overvoltage protection, short circuit protection,
direct torque control, transformerless active rectifier.
I. INTRODUCTION
The three-level neutral-point clamped (NPC) converter
[1], using the integrated gate commutated thyristor
(IGCT), has become the standard in medium voltage
drives in the last decade. This configuration has proved to
be very successful in demanding applications with fast
torque requirements and high power with overload. These
applications call for specially designed motors (inverter
grade motors) that are more expensive than standard
catalogue motors. However the majority of motors are
used in pump, fan and compressor applications with
requirements that allow the use of standard catalogue
motors. These applications normally greatly benefit from
being speed controlled and this has raised the demand for
a new type of inverter that is compatible with the
standard catalogue motor design. The requirements fall
into three major areas: a) common mode voltages that can
lead to bearing problems, b) motor harmonic content,
leading to overheating of the motor and c) voltage rise
time (dv/dt) affecting the motor insulation lifetime.
Over the same time period the voltage and current
ratings of fast power semiconductor devices, such as the
978-1-4244-4987-3/10/$25.00 2010 IEEE
1718
insulated gate bipolar transistor (IGBT), have increased
significantly. This has permitted the extension of these
devices to medium voltage (MV) applications. However,
the use of fast switching devices under high voltage
generates high dv/dt on the converter output. In addition,
the switching and conduction losses are also significantly
increased limiting the power throughput and reducing the
overall converter efficiency. In order to bring the
switching component stresses to acceptable values, new
topologies of multilevel converters have emerged,
including five-level topologies. The ability to generate a
higher number of output voltage levels can additionally
reduce the voltage and current harmonic content applied
to the load when compared to three-level topologies.
Typically, five-level structures are obtained as a
natural extension of existing three-level topologies such
as the NPC converter or the floating-capacitor (FC)
converter [2]. Additional semiconductors and energy
storage elements are incorporated into the classical three-
level converters to produce the extra levels. For both
topologies, however, practical issues appear which make
them less acceptable for application in industry. For
example, if all components are maintained at the same
voltage rating, the required higher number of clamping
diodes and capacitors increases cost and complexity.
Another important aspect is the increased difficulty of
regulating the DC link capacitor voltages of the NPC and
the flying capacitor voltages of the FC. In the five-level
NPC the DC link is subdivided into four equal voltage
levels by using a split bank of four capacitors instead of
two as in the three-level approach. In the FC the number
of floating capacitors is increased from three to ten going
from the three-level to the five-level form [3]. The large
number of redundancies in this case demands an
elaborate control technique.
These difficulties are avoided in the cascaded H-bridge
multilevel topology [4], which is characterized by series
connections of single-phase H-bridge converters.
However, the use of this strategy is limited in some
applications due to the necessity of isolated dc power
sources. Typically this entails the use of diode rectifier
front ends coupled to relatively complex input
transformers. This can be acceptable at high power levels,
but in the lower power MV range the cost of these
transformers becomes prohibitive. A further limitation is
that the power flow can only be controlled in two
quadrants. Other variants of this topology have active
rectifiers [5] to allow four-quadrant operation, but still
require a costly transformer.
Fig. 1 Transformerless ACS 2000 drive configuration with input
reactor, single line diagram, showing the 3-phase rectifier and inverter
units with the shared DC link.
Recently, ABB introduced a new multilevel topology
[6] to overcome some of the above mentioned limitations
while achieving all the advantages of multilevel
converters. The 5-level active neutral-point clamped
(ANPC-5L) topology is a two step extension of the NPC
three-level configuration. First, the NP diodes are
stage (Cell 2 and Cell 3). Moreover, unlike classical five-
level topologies, the ANPC inverter splits the DC link
into only two capacitors and requires only a single phase
capacitor per phase. To ensure equally spaced steps in the
output voltages the phase capacitors are charged to one
forth of the total DC link voltage.
Consequently, the costs, volume and control
complexity are reduced. An additional important feature
that should be noted is the presence of devices with
different blocking voltage ratings. In particular, the Cell 1
devices, connected to the split DC link, are rated for half
of the DC link voltage, while the Cell 2/Cell 3 devices are
rated for a quarter of the DC link voltage. In practice, this
means the Cell 1 devices are comprised of two series
connected IGBTs giving in total 12 equally rated devices
per phase leg.
S1
+ Snp1 S21 S22
Vdcu

complimented by antiparallel active switches as in [7], +

Vph
second an additional capacitor per phase (the phase Snp2 S32 S31
capacitor) is strategically inserted between the series +
Vdcl
connected output switches. This technology has now been
developed into a new low power MV drive, the ACS S4
2000.
This drive combines the ANPC-5L topology with high
Fig. 2 Simplified circuit diagram of an ANPC-5L phase leg.
voltage (HV) IGBT technology. In addition, voltage The DC link is shared by all 3-phases.
balancing of series connected IGBTs is also achieved.
The transformerless configuration of the drive, shown in Five output voltage levels are achieved from eight
Fig. 1, consists of an input filter combined with a distinct switching combinations, indicated by the
compact common mode (CM) choke connected to the combination of the switching functions of S22, S21 and
active front end (AFE) rectifier. This Direct-to-Line S1. One can note that the switches S1 and Snp2 are
(DTL) configuration can be used whenever the supply operated in a complementary way to Snp1 and S4.
voltage is within the standard input range of the converter Another important factor is the allowed transitions
(6-6.9kV). The AFE provides unity power factor to the between states presented in Fig. 3.
utility as well as low harmonic distortion meeting the
IEEE-519 and IEC 61000-2-4 specifications with only a TABLE I PHASE STATES OF ANCP-5L CONVERTER WITH
small input filter to attenuate the switching harmonics. EFFECTS ON PHASE CAPACITOR AND NP
The use of an AFE also enables four-quadrant operation Cell 3 Cell 2 Cell 1 Output Phase Effect on Effect on Switching
allowing regeneration of power back to the utility during Cph Vnp
Level Output Vector
braking operation of a motor. S4 Snp2 Snp1 S1 S32 S21 S31 S22 Voltage i>0 i<0 i>0 i<0
In this paper the characteristics of the topology will 1 0 1 0 1 0 1 0 2 V 0 0 0 0 V0
1 0 1 0 1 0 0 1 1 V/2 + 0 0 V1
first be reviewed along with a discussion of the 1 0 1 0 0 1 1 0 1 V/2 + + V2
implemented control methods. In the following sections 1 0 1 0 0 1 0 1 0 0 0 0 + V3
0 1 0 1 1 0 1 0 0 0 0 0 + V4
some features of the new drive will be discussed with 0 1 0 1 1 0 0 1 +1 V/2 + + V5
experimental waveforms. 0 1 0 1 0 1 1 0 +1 V/2 + 0 0 V6
0 1 0 1 0 1 0 1 +2 V 0 0 0 0 V7

II. ANPC-5L TOPOLOGY AND CONTROL

A. General operation
The ANPC-5L inverter presented by one phase leg in
Fig. 2 produces five distinct output voltage levels by
combining the three-level characteristic of the input stage
(Cell 1) with the two-level characteristic of the output
The list of switching combinations in Table I also
shows the presence of redundant states which generate
the same output voltage level referred to the DC link
neutral-point (NP). For instance, the voltage level V/2
can be generated either by the switching state V5 or V6.
Nevertheless, they cause an opposite effect on the
floating capacitor voltage, due to the different conduction

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paths selected by the switches. For a positive output
phase current, for example, state V5 discharges the phase
capacitor while V6 charges it as demonstrated in Fig. 4.
A similar behavior is observed for the voltage level V/2
produced by the states V1 and V2. Depending on the
direction of the output phase current, these states have the
ability to charge or discharge the phase capacitor.
Fig. 3 Phase states and allowed transitions for the ANPC-5L.
+VDC
NP Vdc/2 PH
-VDC
V6
+VDC
NP Vdc/2 PH
-VDC
V5
Fig. 4 Redundant phase states for the voltage level Vdc/2 or +1 of the
ANPC-5L converter, also shows switches containing two devices in
series.
It can also be noticed that the redundant states have
differing impacts on the mid-point potential depending on
the switching state of the input stage. In order to achieve
an output voltage equal to V/2, the input stage can be
connected either to the positive potential V (V6) or
directly to the NP (V5). For the output voltage level equal
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to V/2 , the switching state V2 results in mid-point
current flow, while V1 is connected to the negative
potential. Thus by properly choosing the redundant phase
states with knowledge of the output current, the phase
capacitor voltages and the NP voltage can be maintained
within a specified margin of their nominal values. Since
the phase capacitors are of lower capacitance value
compared to the DC link capacitors they are given a
higher priority in the balancing logic.
For a three-phase system, the level of flexibility of
controlling the output, mid-point and phase-capacitor
voltages is quite large. On the other hand the complexity
is significant as well. The number of distinct output
voltage vectors increases from 18 in a three-level
structure to 61 in a five-level structure. Furthermore, due
to the presence of redundant vectors, the number of 3-
phase switching states increases to 125 as shown in the
space vector diagram of Fig. 5. As an illustration consider
the zero voltage vector labeled 0 in the diagram, there are
five distinct 3-phase combinations possible. For each of
the vectors on the smallest hexagon labeled 1, 33, 65, 97,
129 and 161 there are four possibilities. The 3-phase
switching states are labeled according to the voltage level
of each phase (R S T) where the output voltage levels V,
V/2, 0, V/2 and V are numbered from 2 to 2,
respectively.
Fig. 5 Vector diagram and numbering scheme for 5L converters.
In the specific case of the ANPC-5L, the number of
possible distinct states is further increased to 512, due to
the redundant phase states for the levels 1 (V/2), 0 and
1 (V/2). The voltage vector 13, for example, consisting of
two redundant 3-phase vectors, [2 1 1] and [1 2 2],
can be produced by six distinct phase state combinations.
To enumerate, the 1 levels in the first redundant vector
[2 1 1] can be realized with four different
combinations of the states V1 and V2, and the level 1 in
the second redundant vector [1 2 2] with the state V5
or V6. Hence, multiple combinations that effect the
phase-capacitors and mid-point potential can be applied
while maintaining the same line-to-line voltage.
 In order to take advantage of all this flexibility, the
controller needs to find a proper combination of 3-phase
switching states to produce the voltage vectors to regulate
the desired output quantities and phase states to balance
the mid-point potential and phase-capacitor voltages.
B. Inverter control Direct Torque Control
The inverter side of the converter uses Direct Torque
Control (DTC) based on multilevel hysteresis bands to
control the machine torque and flux. The details of 2-
level DTC are explained in [8], therefore only the main
differences involved in the multilevel variation, shown in
Fig. 6, are described here. As the torque error (Mref-Mact)
crosses each hysteresis boundary the level crossed is
indicated by an integer which is related to the size of the
hexagon in the vector diagram of Fig. 5 with +1
indicating the smallest and +4 indicating the largest.
Negative values indicate reverse rotation. Additional
inputs to the optimal voltage vector selection table are
also needed: the flux magnitude error and the sign of the
phase currents and an algorithm to calculate the needed
sector location of the stator flux vector. This allows the
use of symmetry and mirroring to reduce to overall size
of the lookup table.
Fig. 6 DTC controller for a 5-level Drive.
Multilevel converters with a split DC bus additionally
need hysteresis bands around the NP voltage error. The
function is as follows, if the NP error is within the inner
band, nothing is done, the calculated optimal voltage
vector for flux and torque is forwarded to the modulator.
If the NP error crosses the first band, if possible a vector
is selected to balance the NP with a normal Flux or
Torque switching. Once the NP error crosses the second
band an additional switching must occur to keep the
voltage in bounds.
In the specific case of the ANPC-5L topology the
voltage error of the phase capacitors must also be taken
into account at each vector selection. To keep the error in
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bounds the redundant phase state which minimizes the
error is chosen. Thus, based on the status of the NP
voltage, the phase capacitor error and the level of
redundancy available, an actual switching transition is
executed by the modulator.
C. AFE Synchronous Reference Frame PI Control
The chosen control method is vector control
synchronized to the network frequency. The primary
purpose of the AFE vector controller is to maintain the
DC link voltage level under all conditions. For this
purpose a DC bus voltage PI controller is employed as
the outer loop. The AFE uses a phase locked loop (PLL)
to synchronize with the supply frequency. The PLL
generated angle is then used in the dq-transformations for
the inner current PI regulators. Here the d-axis current is
used to control the real power (i.e. Vdc) and the q-axis
current controls the reactive power. Thus flexible reactive
power control is possible permitting compensation of the
supply network voltage and therefore avoiding reactive
power penalties.
For highest efficiency, unity power factor operation
(zero reactive power => iq* = 0) can be realized.
Regeneration of motor braking energy back to the utility
is also inherent to an AFE further reducing unnecessary
energy loss. To improve the dynamic performance of the
controller there is also the possibility to feedback the
power consumed by the inverter and motor load. The
modulator for the rectifier is based on a 5-level carrier
based PWM method as described previously in [6].
Fig. 7 800kW 6kV transformerless ACS 2000 drive showing
additional CM filter cabinet on left.
III. MECHANICAL DESIGN
The transformerless ACS 2000, shown in Fig. 7, is
designed to maximize uptime based on a modular
construction philosophy. Components are sized to assure
the expected lifetime and easy front side access is
provided for all critical components. The drawer design
of the phase modules facilitates quick and safe
replacement in case of faults. In the picture the phase
module drawers are located in the far right cabinet and
the CM filter is in the far left cabinet with an integrated
fan. The interfaces are standard for both the DTL and
external transformer configurations [9]. The converter
and terminal cabinets are also identical for both
configurations.
Fig. 8 ACS 2000 phase module mechanical construction details.
A key component of the modular concept is the phase
module shown in Fig. 8. The module comprises the main
components in a phase leg of the converter as shown in
Fig. 2, including the power semiconductors, the gate unit
and the phase capacitor. Additionally, an interface board
to the upper level control as well as current and voltage
measurement equipment is included in each module. This
allows a simple interconnection to the drive as only a
power connection and a fiber optic link has to be
established. The current-carrying connections to the DC
link bus bars of the drive are accomplished by contact
plugs.
The combination of the above mentioned
characteristics allows the end user to easily replace a
module within minutes. This means that, even in the
unlikely event that a phase module needs to be
exchanged, the availability of the drive can be kept at a
high level.
1722
IV. TESTING INFRASTRUCTURE
The ACS 2000 has been tested in a back-to-back
(B2B) configuration. For such a configuration two ACS
2000 drives are installed: the DUT (device under test) and
a load inverter. Both drives are supplied from a common
three-phase network connection and are connected to
their respective electric machines which are coupled on a
common shaft. One practical result of this
interconnection is that only the losses in the drive system
must be provided by the supply. In addition both drives
(DUT and loading inverter) are ACS 2000 drives making
it possible to investigate both motoring and regenerating
modes simultaneously. Long-term B2B tests were also
done to establish the high reliability of the drive.
Fig. 9 Input CM choke and harmonic filter
V. INPUT REACTOR AND CM CHOKE
Compared to the drive configuration with an external
transformer [9] the input filter design must be modified.
Two benefits of an input transformer are the following: it
is a perfect CM filter and it has leakage inductances that
decouple the filter capacitance from the grid. These
effects are reproduced by the new filter design
sufficiently to meet the respective grid standards
mentioned previously. The modified input filter is shown
in Fig. 9. The standard input filter inductance Lifu is used
to replace the decoupling inductance of the transformer.
The CM choke (Lifu_cm) is sized to reduce the low
frequency harmonics (mainly 3rd) to acceptable levels.
6000
Current and Voltage at Supply PCC
150
4000
100
ARU phase voltage (V)
2000
ARU current (A)
50
0 0
-2000
-50
-100
-4000
-150
-6000
0.3 0.305 0.31 0.315 0.32 0.325 0.33 0.335 0.34
time(s)
Fig. 10 Voltage and current of drive input showing unity power
factor operation (ARU is the same as AFE).
VI. INPUT AND OUTPUT PERFORMANCE
The rectifier performance is demonstrated in Fig. 10
showing unity power factor operation of the drive. The
five-level inverter used in the ACS 2000 delivers a nine-
level phase-to phase voltage to the motor. Typical voltage
waveforms are shown in Fig. 11. A typical current uses ABBs thyristor crowbar concept which further
waveform is shown in Fig. 12. It is clear that the new minimizes the risk of damage resulting from a failure.
five-level inverter produces an output that is quite close
to sinusoidal. The result meets the requirements to drive cl-aru +DC cl-inu

motors designed for direct on line (DOL) connection with

no need for derating.
Converter phase to NP voltage +
6
Cdcu

2
NP
voltage (kV)

-2
+
-4
Cdcl

-6
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
time(s)

-DC
Converter phase to phase voltage
15
Fig. 13 Thyristor crowbar circuit placement in the dc link also
10 showing the rectifier and inverter side clamping circuits.

5
The thyristor crowbar protective circuit is shown in
voltage (kV)

0
Fig. 13 in relation to the DC link capacitors and the
-5 clamping circuits for the rectifier and inverter. In case of
a failure (e.g. short circuit, DC link overvoltage etc.), the
-10
crowbar thyristors are fired, shorting the DC link. The
-15
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 capacitor energy is than safely dissipated through a
time(s)

Fig. 11 Voltage waveforms from measurements, top 5-level

carefully predefined conduction path. As a result, the
waveform (phase to NP), bottom 9-level waveform (phase to IGBT semiconductor modules are protected against
phase) . explosions and electric arcs are prevented in the drive. In
addition, no fuses are required in the phase modules, only
Adding further switching levels would significantly three standard fuses are required at the drive input (Fig.
increase the complexity of the drive without delivering 9) to ensure disconnection from the grid during the
proportional benefits. In particular, the reliability of the protection firing procedure. This requirement eliminates
drive would be degraded due to the higher parts count. the need for special installations at the customer site.
Thus, the developed drive configuration presents the The ACS 2000 has inherited the fuseless protection
optimal solution for a 6 kV converter today. concept that has been established in other ABB MV
drives. In this manner the proven protection concept of
Converter output current
200 protection firing is applied to an IGBT converter.
100
current (A)

0 VIII. SUPPLY POWER LOSS RIDE-THROUGH

-100
-200
0.1 0.11 0.12 0.13
time(s)
Fig. 12 Output current waveforms from measurements showing
very sinusoidal waveforms produced by the drive.
VII. PROTECTION CONCEPT
In the past, one of the arguments against IGBTs has
been their susceptibility to overload conditions and the
damage it can cause to the converter. Protecting the
converter against explosions required the installation of
fuses in each power cell.
In recent years many efforts were made to increase the
explosion withstand capabilities of IGBT modules. In
addition to the improvements that have been made in the
semiconductor devices and packaging, the ACS 2000
The multilevel ANPC-5L topology combined with the
0.14
0.15 0.16 0.17 0.18 dynamic performance of DTC can prevent a trip of the
drive even during main power outages of multiple
seconds. Operation can also be continued in case certain
auxiliary supplies fail for a limited time. The maximum
sustainable duration of a power outage depends on the
load system, the machine and the actual operation point
before power outage.
The ride-through functionality of ACS 2000 keeps the
drive in operation and prevents a trip when the input
(supply) voltage fails. During ride-through operation, the
voltage of the DC link is kept at a specified level to
maintain the magnetization of the machine. For this
purpose, energy from the rotating mass of the motor and
the load is fed back through the inverter in order to
compensate the losses and maintain the DC link voltage.
The ride-through mode can be maintained as long as the

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rotating mass has sufficient energy to supply these needs. where it replaced a 630 kW cascade drive that was
When the main supply voltage returns the machine can be controlling the speed of a slip-ring induction motor on a
immediately accelerated back to the desired reference clinker cooler exhaust fan.
speed.
Rectifier Ridethrough performance
80 8000 TABLE II - TARGET INDUSTRIES AND APPLICATIONS
Voltage Industries Applications
60 6000

Grid voltage magnitude (V)

Cement, mining and Conveyors, crushers, mills,
minerals fans and pumps
Input current(A)

40 4000 Chemical, oil and gas Pumps, compressors, extruders,

mixers and blowers
Current Metals Fans and pumps
20 2000
Pulp and paper Fans, pumps, refiners, vacuum
pumps and chippers
0 0 Power generation Fans, pumps, conveyors and
0 1 2 3 4 5 6
time(s) coal mills
10500
Water Pumps
Other applications Test stands and wind tunnels
10000

9500
By controlling the clinker cooler exhaust fan, the drive
DC link voltage (V)

9000
keeps the pressure in the kiln hood constant. It does this
Rectifier
8500
Inverter by regulating the fan speed that draws cold air through
8000 the clinker cooler in relation to the hot air that is being
7500 drawn through the kiln.
7000 In this case the new drive was chosen by the Jura
0 1 2 3 4 5 6
time(s) Cement Factory because of the simple installation,
Inverter Ridethrough performance
100 commissioning and operation of the drive. In addition the
Speed ACS 2000 can control the speed over the full range from
0%-100% compared to the previous installation which
50
Speed/Torque %

only operated from 30%-100%. The energy consumption

0 Speed
-50
0 1
Fig. 14 Measurement of ride-through mode of the Active Front End:
(upper) DC link voltage, (middle)and the inverter (lower).
Fig. 14 shows the field measurements performed at a
pilot installation at Voestalpine Stahl GmbH in Linz,
Austria, where the ride-through mode was tested during a
grid power outage of 1 second. In the top pane of the
figure the grid voltage is seen to drop to zero and the
input current drops to zero at the set threshold of input
voltage. In the bottom pane of the figure the inverter side
behavior is shown. The motor torque begins to regenerate
energy at the same time the grid voltage drop is detected
to maintain the DC link voltage. When the grid voltage
returns the torque is very quickly reversed to motoring
mode and the speed begins to increase again.
IX. TARGET APPLICATIONS
The ACS 2000 is designed for diverse fields of
application in various industries within the general
purpose drives market as indicated in Table II.
A. Reference Project: Pilot Installation Experience
During the development process a pilot unit was
installed at Jura Cement Factory in Wildegg, Switzerland
of the ACS 2000 was measured during a full production
Torque
year. Energy savings of 25% were realized compared to
Torque
the replaced drive system. The fact that the ACS 2000
offers all the advantages of a Voltage Source Inverter
2 3
time(s)
4 5 6 (VSI) such as high and constant power factor and state-
of-the-art features such as an AFE for reduced harmonics
provides further benefits.
Since this is a general purpose drive for standard
applications, installation and commissioning can be
carried out rapidly, with hot commissioning taking only
one day.
X. CONCLUSIONS
In this paper a new four-quadrant MV drive using a
patented power converter topology is described. It has
been designed for the low power segment of the general
purpose drives market in order to meet the increasing
demand for drives which can be used to raise the
efficiency of applications where standard, low cost DOL
machines are used. The new drive features a
transformerless network interface for specified input
voltage levels. In the place of the transformer is a much
smaller and less expensive combined CM choke and
input filter. The basic characteristics of the ANPC-5L
topology have been described as well as the implemented
control methods. The salient features, such as ride
through capability afforded by DTC and the protection
concept, have been exhibited with hardware
measurements of deployed pilot units.

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 ACKNOWLEDGMENT
The authors would like to acknowledge the
contributions of current and former colleagues in the
development of this technology: P. Barbosa, N.
Celanovic, M. Winkelnkemper, F. Wildner, C. Haederli,
P. Steimer, J. Steinke, and many others at MV Drives.
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