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Discontinued
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MINAS A5 Family(Discontinued Products)

We are sorry, the products have been discontinued. Please refer to the details of the discontinued products and the recommended substitutes list below.

Last time buy July 31, 2022 Substitute MINAS A6 Family
 
Specifications

Driver Specifications

A5Ⅱ, A5 series
(Speed, Position, Torque, Full-Closed type)

Basic Specifications

Item Specifications
Input power 100 V Main circuit Single phase,　100 V ＋10 ％－15 ％ to 120 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control circuit Single phase,　100 V ＋10 ％－15 ％ to 120 V ＋10 ％－15 ％　50 Hz / 60 Hz
200 V Main
circuit		 A-frame
to
D-frame		 Single/3-phase,　200 V ＋10 ％－15 ％ to 240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame
to
H-frame		 3-phase, 200 V ＋10 ％－15 ％ to 230 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control
circuit		 A-frame
to
D-frame		 Single phase,　200 V ＋10 ％－15 ％ to 240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame
to
H-frame		 Single phase,　200 V ＋10 ％－15 ％ to 230 V ＋10 ％－15 ％　50 Hz / 60 Hz
400 V Main
circuit		 D-frame
to
H-frame		 3-phase, 380 V ＋10 ％－15 ％ to 480 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control
circuit		 D-frame
to
H-frame		 DC 24 V ± 15 %
Environment temperature Ambient temperature: 0 ˚C to 55 ˚C (free from freezing)
Storage temperature: –20 ˚C to 65 ˚C
(Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*1)
humidity Both operating and storage : 20 % to 85 %RH (free from condensation*1)
Altitude Lower than 1000 m
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 17-bit (131072 resolution) absolute encoder, 7-wire serial
20-bit (1048576 resolution) incremental encoder, 5-wire serial
Feedback scale
feedback		 A/B
phase		 A/B phase, initialization signal defferential input.
serial

Manufacturers that support serial communication scale:
DR. JOHANNES HEIDENHAIN GmbH Fagor Automation S.Coop.
Magnescale Co., Ltd. Mitutoyo Corporation Nidec Sankyo Corporation
Renishaw plc
Parallel I/O connector Control signal Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose output is selected by parameters.
Analog signal Input 3 inputs (16-bit A/D : 1 input, 12-bit A/D : 2 inputs)
Output 2 outputs (Analog monitor: 2 output)
Pulse signal Input 2 inputs (Photo-coupler input, Line receiver input)
Output 4 outputs ( Line driver: 3 output, open collector: 1 output)
Communication
function		 USB Connection with PC etc.
RS232 1:1 communication
RS485 1: n communication (max 31)
Safety function Used for functional safety.
Front panel (1) 5 keys (2) LED (6-digit)
(3) Connector for monitor (Analog monitor output (2ch), Digital monitor output (1ch))
Regeneration A, B,G and H-frame:
no built-in regenerative resistor (external resistor only)
C-frame to F-frame:
Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake A-frame to G-frame: Built-in (external resistor is also enabled to G-frame.)
H-frame: External only
Control mode Switching among the following 7 mode is enabled,
(1) Position control
(2) Speed control
(3) Toque control
(4) Position/Speed control
(5) Position/Torque control
(6) Speed/Torque control
(7) Full-closed control

*1 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.
*2 Not applicable to 2DOF control system.

Function

Item Specifications
Control input (1) Deviation counter clear
(2) Command pulse inhibitation
(3) Electric gear
(4) Damping control switching etc.
Control output Positioning complete (In-position) etc.
Position control Pulse
input		 Max. command pulse
frequency

Exclusive interface for Photo-coupler: 500 kpps
Exclusive interface for line driver: 4 Mpps
Input pulse signal format Differential input
((1) Positive and Negative direction, (2) A and B-phase, (3) Command and
direction)
Electronic gear
(Division/Multiplication of
command pulse)		 1/1000 times to 1000 times
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input		 Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Instantaneous Speed Observer Available
Damping Control Available
2DOF settings Only available at A5Ⅱ Series
Speed control Control input (1) Selection of internal velocity setup 1
(2) Selection of internal velocity setup 2
(3) Selection of internal velocity setup 3
(4) Speed zero clamp etc.
Control output Speed arrival etc.
Analog
input		 Velocity command input Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity.
(6 V/Rated rotational speed Default)
Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Internal velocity command Switching the internal 8speed is enabled by command input.
Soft-start/down function Individual setup of acceleration and deceleration is enabled, with 0 s
to 10 s/ 1000 r/min. Sigmoid acceleration/deceleration is also enabled.
Zero-speed clamp Speed zero clamp input is enabled.
Instantaneous Speed Observer Available
Speed Control filter Available
2DOF settings Only available at A5Ⅱ Series
Torque contro
*2		 Control input Speed zero clamp, Torque command sign input etc.
Control output Speed arrival etc.
Analog
input		 Torque command input Speed command input can be provided by means of analog voltage.
Parameters are used for scale setting and command polarity. (3 V/rated
torque Default)
Speed limit function Speed limit value with parameter is enabled.
Full-closed control
*2		 Control input (1) Deviation counter clear
(2) Command pulse inhibition
(3) Command dividing gradual increase switching
(4) Damping control switching etc.
Control output Full-closed positioning complete etc.
Pulse
input		 Max. command pulse
frequency		 Exclusive interface for Photo-coupler: 500 kpps
Exclusive interface for line driver: 4 Mpps
Input pulse signal format Differential input
Electronic gear (Division/
Multiplication of command
pulse)		 1/1000 times to 1000 times
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Analog
input		 Torque limit command input Individual torque limit for both positive and negative direction is enabled.
Torque feed forward input Analog voltage can be used as torque feed forward input.
Setup range of division/multiplication of
feedback scale		 1/40 times to 160 times
Damping Control Available
Common Auto tuning The load inertia is identified in real time by the driving state of the motor
operating according to the command given by the controlling device and
set up support software “PANATERM”. The gain is set automatically in
accordance with the rigidity setting.
Division of encoder feedback pulse Set up of any value is enabled (encoder pulses count is the max.).
Protective
function		 Hard error Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.

 

A5ⅡE, A5E series
(Position control type)

Basic Specifications

Item Specifications
Input power 100 V Main circuit Single phase,100 V ＋10 ％－15 ％ to 120 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control circuit Single phase,100 V ＋10 ％－15 ％ to 120 V ＋10 ％－15 ％　50 Hz / 60 Hz
200 V Main
circuit		 A-frame
to
D-frame		 Single/3-phase,200 V ＋10 ％－15 ％ to 240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame
to
F-frame		 3-phase,200 V ＋10 ％－15 ％ to 230 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control
circuit		 A-frame
to
D-frame		 Single phase,200 V ＋10 ％－15 ％ to 240 V ＋10 ％－15 ％　50 Hz / 60 Hz
E-frame
to
F-frame		 Single phase,200 V ＋10 ％－15 ％ to 230 V ＋10 ％－15 ％　50 Hz / 60 Hz
400 V Main
circuit		 D-frame
to
F-frame		 3-phase,380 V ＋10 ％－15 ％ to 480 V ＋10 ％－15 ％　50 Hz / 60 Hz
Control
circuit		 D-frame
to
F-frame		 DC 24 V ± 15 %
Environment temperature Ambient temperature: 0 ˚C to 55 ˚C (free from freezing)
Storage temperature: –20 ˚C to 65 ˚C
(Max.temperature guarantee: 80 ˚C for 72 hours free from condensation*1)
humidity Both operating and storage : 20 % to 85 %RH (free from condensation*1)
Altitude Lower than 1000 m
Vibration 5.88 m/s2 or less, 10 Hz to 60 Hz
Control method GBT PWM Sinusoidal wave drive
Encoder feedback 20-bit (1048576 resolution) incremental encoder, 5-wire serial
Parallel I/O connector Control signal Input General purpose 10 inputs
The function of general-purpose input is selected by parameters.
Output General purpose 6 outputs
The function of general-purpose output is selected by parameters.
Analog signal Input none
Output 2 outputs (Analog monitor: 2 output)
Pulse signal Input 2 inputs (Photo-coupler input, Line receiver input)
Output 4 outputs ( Line driver: 3 output, open collector: 1 output)
Communication
function		 USB Connection with PC etc.
Front panel (1) 5 keys (2) LED (6-digit) (3) Analog monitor output (2ch)
Regeneration A, B-frame:
no built-in regenerative resistor (external resistor only)
C-frame to F-frame:
Built-in regenerative resistor (external resistor is also enabled.)
Dynamic brake Built-in
Control mode (1) Position control (2) Internal velocity control (3) Position/ Internal velocity control

*1 Air containing water vapor will become saturated with water vapor as the temperature falls, causing dew.

Function

Item Specifications
Position control Control input (1) Deviation counter clear
(2) Command pulse inhibitation
(3) Electric gear
(4) Damping control switching etc.
Control output Positioning complete (In-position) etc.
Pulse
input		 Max. command pulse
frequency		 Exclusive interface for Photo-coupler: 500 kpps
Exclusive interface for line driver: 4 Mpps
Input pulse signal format Differential input
((1) Positive and Negative direction, (2) A and B-phase,
(3) Command and direction)
Electronic gear (Division/
Multiplication of command
pulse)		 1/1000 times to 1000 times
Smoothing filter Primary delay filter or FIR type filter is adaptable to the command input
Instantaneous Speed Observer Available
Damping Control Available
2DOF settings Only available at A5ⅡE Series
Common Auto tuning The load inertia is identified in real time by the driving state of the motor operating according to the command given by the controlling device and set
up support software “PANATERM”.
The gain is set automatically in accordance with the rigidity setting.
Division of encoder feedback pulse Set up of any value is enabled (encoder pulses count is the max.).
Protective
function		 Hard error Over-voltage, under-voltage, over-speed, over-load,
over-heat, over-current and encoder error etc.
Soft error Excess position deviation, command pulse division error, EEPROM error etc.
Traceability of alarm data The alarm data history can be referred to.

 

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Specifications

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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.

Motor capacity selection software
"Mselect"
(AC servo motor) Mselect


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