Can we use SF / UTP AWG24 ethernet cable for variable speed drives Altivar ATV32, 320,340, ATV630 (embedded+advanced eth, ATV930 ?

Yes, it is possible, the Ethernet cable cross-section does not need to be AWG22 min, it is enough to be AWG24 or any greater cross-section.
The recommendation is to keep the SF/FTP type

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