Hi, After an upgrade to the control unit on our ABB robot, we've had the old hardware sitting around and I'm curious if the stuff can be put to any use. More specifically, I'd be interested in interfacing the main servo drive unit (3HAC14546-6). Does anyone have experience communicating with these units? Or is there any documentation out there that could help? So far, the ABB library has not provided any useful information. Nota bene: I'm aware that it would be difficult and probably illegal to reverse engineer the interface on these devices. I'm not looking into doing this. Best, Niki