MINAS A6 Family

50 W to 22 kW, Input power supply for Driver: Voltage DC 24 V/48 V・AC 100 V/200 V/400 V, 23 bit Absolute/Incremental・battery-less Absolute/Incremental encoder, Frequency response 3.2 kHz

MINAS A6 Family

CE, UL/U-CL, TUV, KoreanKC Approved


Small, light, powerful*1 and speedy

Motors shorter than a business card


High-speed, high-torque, compact and lightweight.*1

*1 Middle and high inertia types only
*2 MHMF200 W
*3 MHMD200 W


Significantly extended running range by the highest speed and high torque in the industry's highest class.


Enhanced position detecting resolution enables smoother and more precise positioning.

Low vibrations High speed and high precision positioning
*4 Incremental encoder


Swifter, smarter and easier to use

Powered Up compact driver


High-speed response, high-precision positioning for quick and accurate movement

Our proprietary algorithm in addition to upgraded CPU and other hardware realized further high-speed response. Furthermore, high-precision positioning is achieved by automatically eliminating micro vibrations and machine oscillation caused by the resonance.

Comparison of position setting waveforms


Example of operation with processing machine


Easy and quick setting, shortening conventional settling time by approx. 64%*1.

Newly developed fit gain function substantially reduces adjustment time. Adaptive notch filter and various gains can be automatically set and adjusted.

*1 Comparison with conventional product A5Ⅱ Family

Settling time


Adjustment completed in only 3 processes


Realized 3.2 kHz frequency response to improve productivity.

Realizes 3.2 kHz frequency response. At 139% that of conventional models*1, it enables hjgh-speed operation and improves productivity.

*1 Comparison with conventional product A5Ⅱ Family


Reduced maintenance work and trouble.

Lineup of motors protected by high dust-proof, high heat-resistant oil seal (With protective lip)

Motors protected by a highly dust-proof, oil-tight oil seal (with protection lip) have been added to the lineup of motor products equipped with oil seals of conventional specifications. The oil seals of this type of motor are made of a material of higher heat resistance.
You can select appropriate motor type according to your application environment such as dusty, powdery or gear connection necessity.
● Oil-seals (with protective lip) are not available for MSMF motors with flange size 80 mm or smaller.
● MQMF and MHMF motors with flange size of 80 mm or smaller provided with oils seals (with protective lip) are not mounting-compatible with A5 Family models.

Some products are provided with 'protective lip' that prevents dust and oil penetration.


■Applicable oil seals

Flange size Motor type With oil seal With oil seal(with protective lip)
80 mm or less MSMF Mage of nitrile
rubber (NBR)
No setting
Not mounting-compatible with A5 Family products
100 mm or more All Type Mounting-compatible with A5 Family products


IP67 enclosure rating (Motors with flange size of 80 mm or smaller are order-made products)

Direct-mount connectors are used for the motor power supply and encoder input and output to improve sealing performance of the motor to IP67.
● IP67-compatible motors with flange size of 80 mm or smaller are order-made products.
● For environmental conditions of applications, refer to Motor Specification Description.


What is IP?

An international standard that specifies the degree of dustproof and waterproof performance.
(IP:Ingress Protection)

Protection level against dust
1 Protected against solid objects over 50 mm in diameter.
2 Protected against solid objects over 12.5 mm in diameter.
3 Protected against solid objects over 2.5 mm in diameter.
4 Protected against solid objects over 1.0 mm in diameter.
5 Dust-proof type: Protected against dust penetration. Continues normal operation even if penetrated by a small quantity of dust.
6 Dust-tight type: Totally protected against dust penetration.
Protection level against water penetration
1 Protected against vertically falling drops of water or condensation.
2 Protected against falling drops of water, if the case is inclined no more than 15° off vertical.
3 Protected against water sprays of water from any direction, even if the case is inclined no more than 60° off vertical.
4 Protected against water splashed from any direction.
5 Protected against direct low pressure water jets from any direction. Limited penetration permitted.
6 Protected against direct high pressure water jets from any direction. Limited penetration permitted.
7 Protected against water penetration when inmersed in water for the specified period of time and under the specified pressure.
8 Protected against water penetration when inmersed in water for long, continuous periods of time.


Lifespan diagnosis / degradation diagnosis

It warns expected lifetime of the motor & driver, and deterioration limit of the equipment.


Geared servomotor


Other driver functions

Adaptive load control

Adaptive load control automatically sets the best suitable gain table in response to fluctuations in inertia caused by changes in workload, thus keeping machines operating stably at all times.


Friction torque compensation

This function reduces the effect of machine related friction and improves responsiveness. Three kinds of friction compensation can be set: unbalanced load compensation, which sets an offset torque that is constantly applied; kinetic friction compensation, which changes direction in response to the direction of movement; and viscous friction compensation, which changes according to the speed command.


Manual/Auto damping filter

Equipped with a damping filter that is automatically set through the setup support software. This filter removes the natural vibration frequency component from the command input, greatly reducing vibration of the axis when stopping. The number of filters for simultaneous use has been increased to three from the conventional two filters. (Two from one in the two-degree-of-freedom-control mode.) The adaptive frequency has also been significantly expanded from 0.5 Hz to 300 Hz.

Damping Filter


Manual/Auto notch filter

Equipped with auto-setting notch filters for greater convenience.
Now there is no need to measure troublesome vibration frequencies. Our notch filters automatically detect vibration and provide simple auto-setting.
These notch filters greatly reduce noise and vibration caused by equipment resonance and respond quickly.
The A6 Family is equipped with 5 notch filters with frequencies settable from 50 Hz to 5000 Hz. Depth can be individually adjusted within this range. (Two of the filters share automatic settings.)

Notch filter characteristic


Block operation function

256 block patterns can be created. Easy control is possible because the instruction can be given to block No. by Modbus (RS232, RS485) or interface (IO) signal.


3-Step gain

A 3-step gain switch is available in addition to the normal gain switch.This chooses appropriate gain tunings at both stopping and running. The 3-step gain switch gives you choices of 3 different tunings for normal running, stopping for faster positioning and at stopping. The right gaining tunings achieve lower vibration and quicker positioning time of your application.


Inertia ratio conversion

You can adjust right inertia ratio by Inertia ratio conversion input (J-SEL) of interface. When you have significant load inertia changes,it can adjust unbalanced speed and position gain turning combination.It ends up quicker response of your system.


Input/output signal assignment

You can use the parameters to arbitrarily allocate the universal 10 inputs and 6 outputs. (Inputs can be selected as either A contacts or B contacts). The Panaterm setup software provides an exclusive screen for a more simplified setup.


Torque limiter switching

These can be used for applications such as simplified pressure, tension control, and sensor-less homing.


Supports semi-/full-closed loop (8 Mpps input pulse, 4 Mpps output pulse) control.

Supports full-closed loop control. The A6SF series accommodates a command input of 8 Mpps and feedback output of 4 Mpps, enabling high-resolution, high-speed operation. Supports the industry's leading positioning resolution commands (pulse-train commands).
●The A6SE and A6SG series do not support full-closed loop control.
●Applicable scale: AB-phase feedback scale (general purpose product) and serial feedback scale (compatible with our exclusive format)


Dynamic braking

With parameter settings, you can select dynamic braking, which shorts servomotor windings U, V and W at Servo-OFF, during positive direction/ negative direction, and during power shutdown and tripping of the circuit breaker for over travel inhibition.
●The desired action sequence can be set up to accommodate your machine requirements.


Inrush current preventive function

This driver is equipped with a rush current preventive resistor to prevent the circuit breaker from shutting off the power supply as a result of inrush current occurring at power-on.


Parameter initialization

Using the front panel or by connecting a PC, you can restore the parameters to the factory settings.


Regenerative energy discharge

A regenerative resistor is used to discharge regenerative energy, which is the energy generated when stopping a load with a large moment of inertia or when using this unit in vertical operation. This energy is returned to the driver from the motor.
● Frame A, and frame B model drivers do not contain a regenerative resistor. Optional regenerative resisters are recommended.
● Frame C to frame F model drivers contain one regenerative resistor; however, adding an optional regenerative resistor provides additional regeneration capability.


Multifunctional software for quick adjustment support

PANATERM set-up support software

The PANATERM set-up support software, with many added features. The PANATERM assists users in setting parameters, monitoring control conditions, setup support, and analyzing mechanical operation data on the PC screen, when installed in a commercially available personal computer, and connected to the MINAS A6 Family through the USB interface. Choose either English, Japanese, Chinese, Korean-language display.


Compliance with international standards

  Driver Motor
EU Standards EMC EN55011
Low-Voltage EN61800-5-1
( Directives Functional
UL Standards UJ61800-5-1
UL1004-1、UL 1004-6
CSA Standards C22.2 No.274 C22.2 No.100
Radio Waves Act
(South Korea)(KC)*2

IEC : International Electrotechnical Commission
E N : Europaischen Normen
EMC : Electromagnetic Compatibility
U L : Underwriters Laboratories
CSA : Canadian Standards Association

Pursuant to the directive 2004/108/EC, article 9(2)

● When export this product, follow statutory provisions of the destination country.
*1 A6SE and A6SG series doesn't correspond to the functional safety standard.
*2 Information related to the Korea Radio Law
This servo driver is a Class A commercial broadcasting radio wave generator not designed for home use.
The user and dealer should be aware of this fact.

This products is not an object of china compulsory certification (CCC).


Low noise, compliant with EMC directives

Radiated noise is minimized to meet EMC directives and to support international standards.


Compliance with EU safety standards.

Features non-software-based independent redundant circuitry for motor power isolation. Independent redundant circuity for motor power isolation. This obviates the need for magnetic contactors to isolate the required motor in order to accommodate low-voltage machinery commands.(The final safety compliance must be applied as machine.)



Includes a function in compliance with the SEMI F47 standard for voltage sag immunity under no load or light load. Ideal for the semiconductor and LCD industries.
● Excluding the single-phase 100-V type.
● Please verify the actual compliance with your machine checking the F47 standard for voltage sag immunity.


Ultra-high-speed network driver Realtime Express(RTEX) MINAS A6N

Pursuit of ultimate real-time processing

Greatly improved basic performance

• Max. 4 Mpps, when using AB-phase external scale


Multifunctional capabilities to match various needs

◎Supports all positions, speeds and torque modes (w/ built-in positioning function).
◎High-precision position latch and comparison
◎Communication cycle can be set to any time between 2 ms and 62.5 μs.


Simple network

◎Satisfies both high performance and low cost requirements.
◎Synchronization established by communication IC
◎Easier development of compatible equipment


● Realtime Express and RTEX are registered trademarks of Panasonic Holdings Corporation. Realtime Express is a high-speed synchronous motion network we developed.
*1 The communication period and connection of slave devices depend on the controller specification.
*2 For communication period 0.0625 ms, command update period is 0.125 ms only.


Special Site


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Setup Support Software 'PANATERM' (AC servo motor) for MINAS A6/A5 Familly PANATERM * This software cannot be used for A4 family Driver (Part No. M*DDT****) and E-series Driver (Part No. M*DET****P). Please purchase optional product DV0P4460.

Requests to customers (Automation Control Components & Industrial Device) [Excluding specific product]
Requests to customers (Automation Control Components & Industrial Device) [For specific product]
Requests to customers (FA Sensors & Components [Excluding motors])
Requests to customers (Dedicated to industrial motors)