MINAS A5 Family

10 W to 7.5 kW, Input power supply for Driver: Voltage DC 24 V/48 V・AC 100 V/200 V/400 V, 20 bit incremental・17 bit Absolute/Incremental encoder, Frequency response 2.3 kHz

MINAS A5 Family

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


Quicker, Wiser and Friendlier A5Ⅱ Series

A5Ⅱ Series




Realizes quick and accurate movement. Fast response & High-precision positioning

Adopted New Algorithm “Two-degree-of-freedom control”(2DOF) to improve productivity and machining accuracy.
In the conventional model, because we could not adjustseparately feedforward control and feedback controls, in other words even if we only adjust “Approach” of feedforward, it had connection with “Settling” of feedback control, mutual adjustment was required.


In 2DOF adopted A5Ⅱ series,feedforward and feedback controls are adjusted separately, meaning
"Approach" reaction to the given command, and the "Settling" can be adjusted separately.
Realized low vibration and reduction of settling time.
Realizes tact speed of the electronic component mounting machines, improves the accuracy of surface treatment of
metal processing machines, allows for smooth operation and High speed industrial robots.

Waveform of PANATERM


Easy and quick adjusting time. 5 times faster* than conventional

Greatly improved “operability”, easy-to-use software “PANATERM”.
We have upgraded setup support software PANATERM, the convenient tool for parameter setting and monitoring often required during start-up of the machine for adjustment motor and driver. Improved to more easy-understandable screen.

Equipped with “Fit Gain” function to realize speedy setup.
Newly developed feature "Fit Gain" maximizes the characteristics of A5Ⅱ series. And adaptive notch filter function can reduce the vibration that occurs when the rigidity of the device is low, you can set and adjust automatically the best variety of gain.

* Comparison with conventional product A5-series

Equipped with “Fit Gain” function


Realized 2.3 kHz frequency response to improve productivity

Comparison* 1.15 times faster than conventional
Realized 2.3 kHz response makes possible high-speed operation and improves productivity.

* Comparison with conventional product A5-series

Realized 2.3 kHz frequency response



2.0 kHz Frequency Response (A5 A5E)

Example application    Semiconductor production equipment, packaging, etc.

Achieves the industry!s leading frequency response of 2.0 kHz.
Operation speed up by new developed LSI and high responsible control. By the industry!s leading speed and positioning response, a highly advanced system can be created. What!s more, the shorter response delay will realize an extremely lower vibration.

2.0 kHz Frequency Response


20 bits/revolution, 1.04 million pulses (At incremental type) (A5Ⅱ A5 A5ⅡE A5E)

Example application    Machine tools, textile machinery, etc.

Ensures smoother operation and reduced vibration at stopping.
Ensures accurate positioning in a short time.

New proprietary signal processing technology achieves 1.04 million pulses with a 20-bit incremental encoder.

At incremental type


Low Cogging Torque (Excluding MSMD, MHMD, MDME 11.0 kW. 15.0 kW) (A5Ⅱ A5 A5ⅡE A5E)

Example application Semiconductor production equipment, textile machinery, etc.

For the industry!s most stable speed and lowest cogging
We!ve achieved the industry!s lowest cogging by minimizing the pulse width by a new design incorporating a 10-pole rotor for the motor and a magnetic field parsing technique. Positioning and stability are greatly improved by the minimal torque variation. This results to improved speed stability and positioning of motor rotation.

Low Cogging Torque


The Input/Output Pulse 4 Mpps (A5Ⅱ A5 A5ⅡE A5E)

Example application Semiconductor production equipment, machine tools, etc.

Accommodates the industry!s leading positioning resolution commands (with pulse train commands).
The command input and feedback output operate at the high speed of 4 Mpps. Accommodates high-resolution and high-speed operation, including standard full closed operation.
(Provided with A5Ⅱ, A5 only. )

The Input/Output Pulse 4 Mpps



Highly Functional Real-time Auto-Gain Tuning (A5Ⅱ A5 A5ⅡE A5E)

Example application    Semiconductor production equipment, food processing machinery, etc.

High-performance real-time auto-gain tuning featuring simple setup.
After installation, tuning will be completed automatically after several operations. When the response is adjusted, simple tuning is supported with a change of one parameter value. Use of the gain adjustment mode in the setup support software contributes to optimum adjustment. The built-in auto vibration suppression function reduces equipment damage. Appropriate modes are provided for various machines such as vertical axis machines and high friction machines with belts. This makes it possible to perform simple optimal adjustments simply by selecting the mode and stiffness.

Highly Functional Real-time Auto-Gain Tuning


Manual/Auto Notch Filters (A5Ⅱ A5 A5ⅡE A5E)

Example application Semiconductor production equipment, food processing machinery, etc.

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 during operation. The A5Ⅱ, A5 series features an industry-largest total of four notch filters with setup frequencies of 50 Hz to 5000 Hz. This approach enables depth adjustment within this frequency range.
(Two of the filters share the auto set-up.)


Notch filters


Manual/Auto Damping Filter (A5Ⅱ A5 A5ⅡE A5E)

Example application Chip mounters, food processing machinery, robots,
general production machinery, etc.

Equipped with a damping filter featuring simplified automatic setup.
The setup software features automatic setup of the damping filter. This filter removes the natural vibration frequency component from the command input, greatly reducing vibration of the axis when stopping. The number of filters has been increased to four from the conventional two filters (two for simultaneous use). The adaptive frequency has also been significantly expanded from 1 Hz to 200 Hz.

Manual/Auto Damping Filter


Motion Simulation (A5Ⅱ A5 A5ⅡE A5E)

Example application    General production machinery, etc.

Equipped with a simplified machine simulation function.
The setup software uses frequency response data acquired from the actual machine. In addition, it features a machine simulation function for performing simulated operation. This allows you to easily confirm the effects of gain and various filters without adjusting the actual equipment.

Motion Simulation



New Structure/ Innovative Core/ Innovative Encoder (A5Ⅱ A5 A5ⅡE A5E)

Example application Robots, chip mounters, general production machinery, etc.

Featuring significantly reduced weight and a more compact motor
We've developed new designs for both compact motors and large motors. The new design used for the core has succeeded in compact. The addition of an innovative compact encoder has contributed to a 10 % to 25 % (1 kg to 6 kg) reduction in motor weight in the 1 kW and larger class when compared with conventional motors.

[Examples for MSM or MDM]

Series A4 A5Ⅱ A5 Weight Reduction
MSM 1 kW 4.5 kg 3.5 kg ▲1 kg
MSM 2 kW 6.5 kg 5.3 kg ▲1.2 kg
MDM 1 kW 6.8 kg 5.2 kg ▲1.6 kg
MDM 2 kW 10.6 kg 8.0 kg ▲2.6 kg

New structure



Complies with European Safety Standards. (A5Ⅱ A5)

Example application Semiconductor and LCD production equipment, etc.

Compliance with EU safety standards.
Features non-software-based independent redundant circuitry for motor power isolation. independent redundant circuitry 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.)


Low noise (A5Ⅱ A5 A5ⅡE A5E)

Example application Semiconductor and LCD production equipment, etc.
general production machinery for export to the European market

Complies with the European EMC Directive
By incorporating the latest circuit technology, A5Ⅱ, A5 series achieves a further noise reduction of 3 dB compared with the conventional A4 series, which also features noise suppression.
(The A4 series also conforms to the EMC Directive.)

Low noise


IP67 Enclosure Rating (Products are build to order items.) (A5Ⅱ A5 A5ⅡE A5E)

Example application Machine tools, robots, printing machines, etc.

IP67 enclosure rating for increased environmental resistance
Our improved motor seals and direct-mount connectors in the motor power supply and encoder input-output areas contribute to this unit!s IP67 enclosure rating.

・Motors of MSMD and MHMD series and 0.9 kW or higher standard stock items have IP65 rating.
・Motors of IP67 have smaller encoder connector that requires cable compatible with IP67 motor.
*IP67 motor is build to order items.

IP67 motor



PANATERM Set-up Support Software (A5Ⅱ A5 A5ⅡE A5E)

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 A5 Family through the USB interface.


Other Functions

Command Control Mode (A5 A5E)

● Command control mode is available for Position, Speed (including eight internal velocities) and Torque.
● Using parameter settings, you can set up one optional command control mode or two command control modes by switching.
● According to suitable application utility, proper optional command control mode can be chosen.


Full-closed Control (A5 A5E)

AB-phase linear scale (for general all-purpose products) or serial scale (compatible with our exclusive format) scales can be used.


SEMI F47 (A5Ⅱ A5 A5ⅡE A5E)

● 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.
 1) Excluding the single-phase 100-V type.
 2) Please verify the actual compliance with your machine checking the F47 standard for voltage sag immunity.


Inrush Current Preventive Function (A5Ⅱ A5 A5ⅡE A5E)

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.


Regenerative Energy Discharge (A5Ⅱ A5 A5ⅡE A5E)

● 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, B, G and frame H 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.


Dynamic Braking (A5Ⅱ A5 A5ⅡE A5E)

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 dynamic brake circuit of H-frame is external
The desired action sequence can be set up to accommodate your machine requirements.


6000-rpm capability (build to order item) (A5Ⅱ A5 A5ⅡE A5E)

The MSME motor (under 750 W) can accommodate a maximum speed of 6000 r/min.
[Comparison of new and conventional 200 W]

Gear head
Gear heads for 6000 r/min and 5000 r/min motors are available. Set 5000 r/min gear head only to 5000 r/min motor, and set 6000 r/min gear head only to 6000 r/min motor.
When customers prepare a gear head, use it as follows:
MSME → 6000 r/min
MSMD → 5000 r/min
MHMD → 5000 r/min


Parameter Initialization (A5Ⅱ A5 A5ⅡE A5E)

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


Disturbance Observer (A5Ⅱ A5 A5ⅡE A5E)

By using a disturbance observer to add an estimated disturbance torque value to the torque canceling command, this function diminishes the impact of the disturbance torque, reduces vibration, and offsets any speed decline.


Torque Feed Forward (A5Ⅱ A5 A5ⅡE A5E)

The Torque Feed Forward function performs a comparison with feedback and calculates the amount of torque to add to the necessary torque command in the command for actuation.


Friction Torque Compensation (A5Ⅱ A5 A5ⅡE A5E)

This function reduces the effect of machine-related friction and improves responsiveness. Two kinds of friction compensation can be set up: unbalanced load compensation, which compensates with a constant operational offset torque; and kinetic friction, which changes direction in response to the direction of movement.


3-Step Gain (A5Ⅱ A5 A5ⅡE A5E)

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 (A5Ⅱ A5 A5ⅡE A5E)

You can adjust right inertia ratio by Inertia Ratio Conversion input(J-SEL). 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 (A5Ⅱ A5 A5ⅡE A5E)

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 (A5Ⅱ A5 A5ⅡE A5E)

You can use the I/Os to set up torque limits. These can be used for applications such as simplified pressure, tension control, and sensor-less homing.


Applicable international safety standards (A5Ⅱ A5 A5ⅡE A5E)

EC Directives EMC Directives EN55011
Low-Voltage Directives EN61800-5-1 EN60034-1
Machinery Directives
Functional safety*1
ISO13849-1(PL d)(Cat.3)
EN62061(SILCL 2)
UL Standards UL508C(No.E164620) UL1004-1, UL1004-6
CSA Standards C22.2 No.14 C22.2 No.100
Radio Waves Act (South Korea) (KC)*2 KN11

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

● When export this product, follow statutory provisions of the destination> *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).


Applicable External Scales (A5Ⅱ A5)

Applicable External Scale Manufacturer Model No. Resolution
Maximum Speed
Parallel Type
Maximum speed after
4 x multiplication: 4 Mpps
Serial Type
Magnescale Co., Ltd. SR75 0.01 to 1 3.3
SR85 0.01 to 1 3.3
SL700-PL101RP/RHP 0.1 10
SL710-PL101RP/RHP 0.1 10
BF1 0.001/0.01 0.4/1.8
Nidec Sankyo Corporation PSLH 0.1 6
Serial Type (Absolute) DR. JOHANNES
LIC2197P/LIC2199P 0.05/0.1 10
Fagor Automation S.Coop. SVAP 0.05 2.5
SAP 0.05 2.5
GAP 0.05 2.5
LAP 0.1 2
Magnescale Co., Ltd. SR77 0.01 to 1 3.3
SR87 0.01 to 1 3.3
Mitutoyo Corporation AT573A 0.05 2.5
ST778A(L) 0.1 5
Renishaw plc RESOLUTE 0.001 0.4
0.05 20
0.1 40

*3 The maximum speed is a characteristic of the driver. It is limited by the configuration of the machine and the system.

Realtime Express(RTEX)

System Structure




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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)