MINAS A5 Family (Discontinued Products)

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Discontinued Products
Lineup
System Configuration
Specifications
Dimensions
Wiring/ Connection
Option
Software

Ⅾiscontinued

Last time buy (JST)

July 31, 2022

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

------------------------------ Tab1 showing ------------------------------

Discontinued Products

------------------------------ Tab2 showing ------------------------------

Lineup

Motor Lineup

Low inertia

Motor	Voltage	Rated output (kW)	Rated rotational speed (Max. speed) (r/min)	Rotary encoder		Enclosure ^（＊1）	Features
Motor	Voltage	Rated output (kW)	Rated rotational speed (Max. speed) (r/min)	20-bit incremental	17-bit/ absolute	Enclosure ^（＊1）	Features
MSMJ	200 V	0.2 0.4	3000 (5000)	○	○	IP65	-
MSMJ	200 V	0.75	3000 (4500)	○	○	IP65	-
MSMD	100 V 200 V	0.05 0.1 0.2 0.4	3000 (5000)	○	○	IP65	• Leadwire type • Small capacity • Suitable for high speed application • Suitable for all applications
MSMD	200 V	0.75	3000 (4500)	○	○	IP65
MSME	100 V 200 V	0.05 0.1 0.2 0.4	3000 (6000)	○	○	IP67	• Small capacity • Suitable for high speed application • Suitable for all applications
MSME	200 V	0.75	3000 (6000)	○	○	IP67
MSME	400 V	0.75	3000 (5000)	○	○	IP65^（＊2）	• Middle capacity • Suitable for the machines directly coupled with ball screw and high stiffness and high repetitive application
	200 V 400 V	1.0 1.5 2.0 3.0	3000 (5000)
	200 V 400 V	4.0 5.0	3000 (4500)

Middle inertia

Motor	Voltage	Rated output (kW)	Rated rotational speed (Max. speed) (r/min)	Rotary encoder		Enclosure ^（＊1）	Features
Motor	Voltage	Rated output (kW)	Rated rotational speed (Max. speed) (r/min)	20-bit incremental	17-bit/ absolute	Enclosure ^（＊1）	Features
MDME	400 V	0.4 0.6	2000 (3000)	○	○	IP65^（＊2）	• Middle capacity • Suitable for low stiffness machines with belt driven
	200 V 400 V	1.0 1.5 2.0 3.0 4.0 5.0	2000 (3000)
		7.5^（＊3）	1500 (3000)
		11.0^（＊3） 15.0^（＊3）	1500 (2000)
MFME (Flat type) ^（＊3）	200 V 400 V	1.5 2.5 4.5	2000 (3000)	○	○	IP67	• Middle capacity • Flat type and suitable for machines with space limitation
MGME (Low speed/ High torque type)	200 V 400 V	0.9 2.0 3.0 4.5^（＊3） 6.0^（＊3）	1000 (2000)	○	○	IP65^（＊2）	• Middle capacity • Suitable for low speed and high torque application

High inertia

Motor	Voltage	Rated output (kW)	Rated rotational speed (Max. speed) (r/min)	Rotary encoder		Enclosure ^（＊1）	Features
Motor	Voltage	Rated output (kW)	Rated rotational speed (Max. speed) (r/min)	20-bit incremental	17-bit/ absolute	Enclosure ^（＊1）	Features
MHMD	100 V 200 V	0.2 0.4	3000 (5000)	○	○	IP65	• Leadwire type • Small capacity • Suitable for low stiffness machines with belt driven
MHMD	200 V	0.75	3000 (4500)	○	○	IP65
MHME	200 V 400 V	1.0 1.5 2.0 3.0 4.0 5.0	2000 (3000)	○	○	IP65^（＊2）	• Middle capacity • Suitable for low stiffness machines with belt driven,and large load moment of inertia
MHME	200 V 400 V	7.5^（＊3）	1500 (3000)	○	○	IP65^（＊2）

(＊1)Except for output shaft, and connector.
(＊2)IP67 motor is also available.
(＊3)Only IP67 motor is avilable.

Driver Lineup

Series	Control method	Interface/ Communication function	Safety Function
A5 Series	Position control, Velocity control, Torque control, and Full-closed control	Analog/Pulse input, Modbus (RS485 /RS232)	with
A5Ⅱ Series	Position control, Velocity control, Torque control, and Full-closed control, 2DOF settings	Analog/Pulse input, Modbus (RS485 /RS232)	with
A5E Series	Position control	Pulse input	without
A5ⅡE Series	Position control, 2DOF settings	Pulse input	without

------------------------------ Tab3 showing ------------------------------

System Configuration

Overall Wiring

[Connector type (100/200 V: A-frame to E-frame)]

Caution
Apply adequate tightening torque to the product mounting screw by taking into consideration strength of the screw and the characteristics of material to which the product is installed. Overtightening can damage the screw and/or material; undertightening can result in loosening.
Example) Steel screw (M5) into steel section: 2.7 N·m to 3.3 N·m.

[Connector type (400 V: D, E-frame)]

Note
Initial setup of rotational direction: positive = CCW and negative = CW. Pay an extra attention.

Driver and List of Applicable Peripheral Equipments

Driver	Applicable motor	Voltage *1	Rated output	Required Power (at the rated load)	Circuit breaker (rated current)	Noise filter (Single phase/ 3-phase)	Surge absorber (Single phase/3-phase)	Noise filter for signal	Rated operating current of magnetic (contactor Contact configuration)^*2	Diameter and withstand voltage of main circuit cable	Crimp terminal for main circuit terminal block ^*4	Diameter and withstand voltage of control power supply cable	Crimp terminal for control power supply terminal block	Diameter and withstand voltage of motor cable ^*5	Diameter and withstand voltage of brake cable
MADH MADK	MSMD MSME MHMD	Single phase, 100 V	50 W to 100 W	approx. 0.4 kVA	10 A	DV0P4170	DV0P4190	DV0P1460	20 A (3P+1a)	0.75 mm²/ AWG18 600 VAC or more	Connection to exclusive connector	0.75 mm²/ AWG18 600 VAC or more	Connection to exclusive connector	0.75 mm²/ AWG18 600 VAC or more	0.28 mm² to 0.75 mm²/ AWG22 to AWG18 100 VAC or more
MADH MADK	MSMD MSME MHMD	Single/ 3-phase, 200 V	50 W to 200 W	approx. 0.5 kVA		DV0P4170/ DV0PM20042	DV0P4190/ DV0P1450
MBDH MBDK	MSMD MSME MHMD	Single 100 V	200 W	approx. 0.5 kVA		DV0P4170	DV0P4190
MBDH MBDK	MSMD MSME MHMD	Single/ 3-phase, 200 V	400 W	approx. 0.9 kVA		DV0P4170/ DV0PM20042	DV0P4190/ DV0P1450
MCDH MCDK	MSMD MSME MHMD	Single 100 V	400 W	approx. 0.9 kVA		DV0PM20042	DV0P4190
MCDH MCDK	MSMD MSME MHMD	Single/ 3-phase, 200 V	750 W	approx. 1.3 kVA	15 A	DV0PM20042	DV0P4190/ DV0P1450
MDDH MDDK	MDME	Single/ 3-phase, 200 V	1.0 kW	approx. 1.8 kVA		DV0P4220			30 A (3P+1a)	2.0 mm²/ AWG14 600 VAC or more				2.0 mm²/ AWG14 600 VAC or more	0.75 mm²/ AWG18 100 VAC or more
	MHME		1.0 kW	approx. 1.8 kVA
	MGME		0.9 kW	approx. 1.8 kVA	20 A
	MSME		1.0 kW	approx. 1.8 kVA
	MHME		1.5 kW	approx. 2.3 kVA
	MDME
	MFME
	MSME
	MDME	3-phase, 400 V	400 W	approx. 0.9 kVA	10 A	FN258L-16-07 (Recommended component )	DV0PM20050		20 A (3P+1a)			0.52 mm²/ AWG20 100 VAC or more
	MDME		600 W	approx. 1.2 kVA
	MSME		750 W	approx. 1.6 kVA
	MSME		1.0 kW	approx. 1.8 kVA
	MDME
	MHME
	MGME		0.9 kW
	MSME		1.5 kW	approx. 2.3 kVA
	MDME
	MFME
	MHME
MEDH MEDK	MDME	3-phase, 200 V	2.0 kW	approx. 3.3 kVA	30 A	DV0PM20043	DV0P1450	DV0P1460 RJ8035 (Recommended component ) ^*6	60 A (3P+1a)			0.75 mm²/ AWG18 600 VAC or more
	MSME
	MHME
	MFME		2.5 kW	approx. 3.8 kVA
	MSME	3-phase, 400 V	2.0 kW	approx. 3.3 kVA	15 A	FN258L-16-07 (Recommended component )	DV0PM20050	DV0P1460	30 A (3P+1a)			0.52 mm²/ AWG20 100 VAC or more
	MDME
	MHME
	MFME		2.5 kW	approx. 3.8 kVA
MFDH MFDK	MGME	3-phase, 200 V	2.0 kW	approx. 3.8 kVA	50 A	DV0P3410	DV0P1450	DV0P1460 RJ8035 (Recommended component ) ^*6	60 A (3P+1a)	3.5 mm²/ AWG12 600 VAC or more	Terminal block M5	0.75 mm²/ AWG18 600 VAC or more	Terminal block M5	3.5 mm²/ AWG12 600 VAC or more
	MDME		3.0 kW	approx. 4.5 kVA
	MHME
	MSME
	MGME
	MDME		4.0 kW	approx. 6.0 kVA					100 A (3P+1a)
	MHME
	MSME
	MFME		4.5 kW	approx. 6.8 kVA
	MGME		4.5 kW	approx. 7.5 kVA
	MDME		5.0 kW
	MHME
	MSME
	MGME	3-phase, 400 V	2.0 kW	approx. 3.8 kVA	30 A	FN258L-30-07 (Recommended component )	DV0PM20050	DV0P1460	60 A (3P+1a)		Terminal block M4	0.75 mm²/ AWG18 100 VAC or more	Terminal block M3
	MSME		3.0 kW	approx. 4.5 kVA
	MDME
	MGME
	MHME
	MSME		4.0 kW	approx. 6.0 kVA
	MDME
	MHME
	MFME		4.5 kW	approx. 6.8 kVA
	MGME		4.5 kW	approx. 7.5 kVA
	MSME		5.0 kW
	MDME
	MHME
MGDH MGDK	MDME	3-phase, 200 V	7.5 kW	approx. 11 kVA	60 A	FS5559-60-34 (Recommended component )	DV0P1450	DV0P1460 RJ8095 Recommended ( component ) T400-61D (Recommended component ) ^*6	100 A (3P+1a)	5.3 mm²/ AWG10 600 VAC or more	Terminal block M5	0.75 mm²/ AWG18 600 VAC or more	Terminal block M5	13.3 mm²/ AWG6 600 VAC or more
	MGME		6.0 kW	approx. 9.0 kVA
	MHME		7.5 kW	approx. 11 kVA
	MDME	3-phase, 400 V	7.5 kW	approx. 11 kVA	30 A	FN258-42-07 or FN258-42-33 (Recommended component )	DV0PM20050		60 A （3P+1a）			0.75 mm²/ AWG18 100 VAC or more
	MGME		6.0 kW	approx. 9.0 kVA
	MHME		7.5 kW	approx. 11 kVA
MHDH MHDK	MDME	3-phase, 200 V	11 kW	approx. 17 kVA	100 A	FS5559-80-34 (Recommended component )	DV0P1450		150 A (3P+1a)	13.3 mm²/ AWG6 600 VAC or more ^*3	Terminal block M6	0.75 mm²/ AWG18 600 VAC or more	Terminal block M4
		3-phase, 200 V	15 kW	approx. 22 kVA	125 A	FS5559-80-34 (Recommended component )	DV0P1450		150 A (3P+1a)			0.75 mm²/ AWG18 600 VAC or more		21.1 mm²/ AWG4 600 VAC or more
		3-phase, 400 V	11 kW	approx. 17 kVA	50 A	FN258-42-07 or FN258-42-33 (Recommended component )	DV0PM20050		100 A （3P+1a）			0.75 mm²/ AWG18 100 VAC or more		13.3 mm²/ AWG6 600 VAC or more
		3-phase, 400 V	15 kW	approx. 22 kVA	60 A	FN258-42-07 or FN258-42-33 (Recommended component )	DV0PM20050		100 A （3P+1a）			0.75 mm²/ AWG18 100 VAC or more		21.1 mm²/ AWG4 600 VAC or more

*1 Select peripheral equipments for single/3phase common specification according to the power source.
*2 For the external dynamic brake resistor, use the magnetic contactor with the same rating as that for the main circuit.
*3 When use the external regenerative resistor of the option (DV0PM20058, DV0PM20059), use the cable with the same diameter as the main circuit cable.
*4 For the ground screw, use the same crimp terminal as that for the main circuit terminal block.
*5 The diameter of the ground cable and the external dynamic brake resistor cable must be equal to, or larger than that of the motor cable.
The motor cable is a shield cable, which conforms to the EC Directives and UL Standards. (G, H-frame only)
*6 Use thses products to suit an international standard.

●About circuit breaker and magnetic contactor
To comply to EC Directives, install a circuit breaker between the power and the noise filter without fail, and the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).

Suitable for use on a circuit capable of delivering not more than 5000 Arms symmetrical amperes, below the maximum input voltage of the product.
If the short-circuit current of the power supply exceeds this value, install a current limit device (current limiting fuse, current limiting circuit breaker, transformer, etc.) to limit the short-circuit current.

＜Remarks＞

Select a circuit breaker and noise filter which match to the capacity of power supply (including a load condition).

● Terminal block and protective earth terminals

Use a copper conductor cables with temperature rating of 75 ℃ or higher.
Use the attached exclusive connector for A-frame to E-frame, and maintain the peeled off length of 8 mm to 9 mm.

■Fastening torque list (Terminal block screw/Terminal cover fastening screw)

Driver		Terminal block screw		Terminal cover fastening screw
Frame	Terminal name	Nominal size	Fastening torque (N･m)	Nominal size	Fastening torque (N･m)
F(200 V)	L1, L2, L3, L1C, L2C, B1, B2, B3, NC, U, V, W	M5	1.0 to 1.7	M3	0.19 to 0.21
F(400 V)	24V、0V	M3	0.4 to 0.6
F(400 V)	L1, L2, Ｌ３, B1, B2, B3, NC, U, V, W	M4	0.7 to 1.0
G	L1C, L2C, 24 V, 0 V, DB1, DB2, DB3, DB4, NC	M5	1.0 to 1.7
G	L1, L2, L3, B1, B2, NC, U, V, W	M5	2.0 to 2.4	M3	0.3 to 0.5
H	L1C, L2C, 24 V, 0 V, DB1, DB2	M4	0.7 to 1.0	M5	2.0 to 2.5
H	L1, L2, L3, B1, B2, NC, U, V, W	M6	2.2 to 2.5	M5	2.0 to 2.5

■Fastening torque list (Ground terminal screw/Connector to host controller [X4])

Driver frame	Ground screw		Connector to host controller (X4)
Driver frame	Nominal size	Fastening torque (N･m)	Nominal size	Fastening torque (N･m)
A to E	M4	0.7 to 0.8	M2.6	0.2±0.05
G	M5	1.4 to 1.6
H	M6	2.4 to 2.6

[Caution]

Applying fastening torque larger than the maximum value may result in damage to the product.
Do not turn on power without tightening all terminal block screws properly, otherwise, loose contacts may generate heat (smoking, firing）.

[Remarks]

To check for looseness, conduct periodic inspection of fastening torque once a year.

------------------------------ Tab4 showing ------------------------------

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
	100 V	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
		Main circuit	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
		Control circuit	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
	400 V	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.
Feedback scale feedback			serial	Manufacturers that support serial communication scale: DR. JOHANNES, HEIDENHAIN GmbH, Fagor Automation, S.Coop. Magnescale Co., Ltd. Mitutoyo Corporation, NIDEC INSTRUMENTS CORPORATION, Renishaw plc
Parallel I/O connector	Control signal		Input	General purpose 10 inputs The function of general-purpose input is selected by parameters.
	Control signal		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)
	Analog signal		Output	2 outputs (Analog monitor: 2 output)
	Pulse signal		Input	2 inputs (Photo-coupler input, Line receiver input)
	Pulse signal		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.
	Analog input	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.
	Analog input	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.
	Protective function	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
	100 V	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
		Main circuit	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
		Control circuit	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
	400 V	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.
	Control signal		Output	General purpose 6 outputs The function of general-purpose output is selected by parameters.
	Analog signal		Input	none
	Analog signal		Output	2 outputs (Analog monitor: 2 output)
	Pulse signal		Input	2 inputs (Photo-coupler input, Line receiver input)
	Pulse signal		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.
	Protective function	Soft error	Excess position deviation, command pulse division error, EEPROM error etc.
	Traceability of alarm data		The alarm data history can be referred to.

------------------------------ Tab5 showing ------------------------------

------------------------------ Tab6 showing ------------------------------

1.Wiring Diagram (Wiring to Connector, XA, XB, XC, XD and Terminal Block)
2.Safety Function (Wiring to the Connector, X3)
3.Control Circuit Diagram (Wiring to the Connector, X4, X5, X6)

1.Wiring Diagram

Wiring to Connector, XA, XB, XC, XD and Terminal Block

Note.1)

Frame No.	Short wire (Accessory)	Built-in regenerative resistor	Connection of the connector XB
Frame No.	Short wire (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
A-frame B-frame	without	without	・Always open between B2-B3 ・Connect an external regenerative resistor between B1-B2	・Always open between B2-B3
C-frame D-frame	with	with	・Remove the short wire accessory from between B2-B3. ・Connect an external regenerative resistor between B1-B2	・Shorted between B2-B3 with an attached short wire

Note.1)

Frame No.	Short wire (Accessory)	Built-in regenerative resistor	Connection of the connector XB
Frame No.	Short wire (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
A-frame B-frame	without	without	・Always open between B2-B3 ・Connect an external regenerative resistor between B1-B2	・Always open between B2-B3
C-frame D-frame	with	with	・Remove the short wire accessory from between B2-B3. ・Connect an external regenerative resistor between B1-B2	・Shorted between B2-B3 with an attached short wire

Note.1)

Frame No.	Short wire (Accessory)	Built-in regenerative resistor	Connection of the connector XC
Frame No.	Short wire (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
E-frame	with	with	・Remove the short wire accessory from between B2-B3. ・Connect an external regenerative resistor between B1-B2	・Shorted between B2-B3 with an attached short wire

Note.1)

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
F-frame	with	with	• Remove the short bar accessory from between B2-B3. • Connect an external regenerative resistor between B1-B2	• Shorted between B2-B3 with an attached short bar

Note.1) About regenerative resistor

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
G-frame	without	without	• Connect an external regenerative resistor between B1-B2	• Open between B1-B2

Note.2) About dynamic brake resistor

Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	In case of using an external dynamic brake resistor.	In case of not using an external dynamic brake resistor.
G-frame	with	with	• Remove attached short bar between DB3-DB4. • Connect external dynamic brake resistor as shown above.	• Shorted with attached short bar between DB3-DB4 • Open between DB1-DB2

Note.1) About regenerative resistor

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
H-frame	without	without	(External regenerative resistor terminal) • Terminal R1, R2 connect to B1, B2 • Terminal T1, T2 connection as shown above • Terminal 24 V, 0 V connect to DC power supply of DC24 V. • E terminal connect to the ground	• Open between B1-B2

Specification of external regenerative resistor, please refer to “Options Components”.

Note.2) About dynamic brake resistor

Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	In case of using an external dynamic brake resistor.	In case of not using an external dynamic brake resistor.
H-frame	without	without	• Connect external dynamic brake resistor as shown above.	• Open between DB1-DB2

Note.3) Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.

Note.4) Servo may be turned on in the external sequence if the contact deposits: to protect the system, provide the auxiliary contact.

Note.5) Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake resistor.

Note.6) Reactor should be prepared by the customer.

Note.1) Shielding the circuit is recommended for the purpose of noise reduction.

Note.2)

Frame No.	Short wire (Accessory)	Built-in regenerative resistor	Connection of the connector XC
Frame No.	Short wire (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
E-frame	with	with	• Remove the short wire accessory from between B2-B3. • Connect an external regenerative resistor between B1-B2	• Shorted between B2-B3 with an attached short wire

Note.1) Shielding the circuit is recommended for the purpose of noise reduction.

Note.2)

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
F-frame	with	with	・Remove the short wire accessory from between B2-B3. ・Connect an external regenerative resistor between B1-B2	・Shorted between B2-B3 with an attached short bar

Note.1) About regenerative resistor

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
G-frame	without	without	• Connect an external regenerative resistor between B1-B2	• Open between B1-B2

Note.2) About dynamic brake resistor

Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	In case of using an external dynamic brake resistor.	In case of not using an external dynamic brake resistor.
G-frame	with	with	• Remove attached short bar between DB3-DB4. • Connect external dynamic brake resistor as shown above.	• Shorted with attached short bar between DB3-DB4 • Open between DB1-DB2

Note.1) About regenerative resistor

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in regenerative resistor	In case of using an external regenerative resistor.	In case of not using an external regenerative resistor.
H-frame	without	without	(External regenerative resistor terminal) • Terminal R1, R2 connect to B1, B2 • Terminal T1, T2 connection as shown above • Terminal 24 V, 0 V connect to DC power supply of DC24 V . • E terminal connect to the ground	• Open between B1-B2

Specification of external regenerative resistor, please refer to “Options Components”.

Note.2) About dynamic brake resistor

Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	Connection of terminal block
Frame No.	Short bar (Accessory)	Built-in dynamic brake resistor	In case of using an external dynamic brake resistor.	In case of not using an external dynamic brake resistor.
H-frame	without	without	• Connect external dynamic brake resistor as shown above.	• Open between DB1-DB2

Note.3) Shielding the circuit is recommended for the purpose of noise reduction.

Note.4) Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit.

Note.5) Servo may be turned on in the external sequence if the contact deposits: to protect the system, provide the auxiliary contact.

Note.6) Provide an external protective device (e.g. thermal fuse) to monitor the temperature of the external dynamic brake resistor.

Note.7) Reactor should be prepared by the customer.

2.Safety Function

Wiring to the Connector, X3 (Excluding A5ⅡE, A5E Series)

Connecting the host controller can configure a safety circuit that controls the safety functions.
When not constructing the safety circuit, use the supplied safety bypass plug.

Outline Description of Safe Torque Off (STO)

The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning off the driving signal of the servo driver internal power transistor. For this purpose, the STO uses safety input signal and hardware (circuit).
When STO function operates, the servo driver turns off the servo ready output signal (S-RDY) and enters safety state.
This is an alarm condition and the 7-seg LED on the front panel displays the error code number.

Safety Precautions

When using the STO function, be sure to perform equipment risk assessment to ensure that the system conforms to the safety requirements.
Even while the STO function is working, the following potential safety hazards exist. Check safety in risk assessment.
- The motor may move when external force (e.g. gravity force on vertical axis) is exerted on it. Provide an external brake, etc., as necessary to secure the motor. Note that the purpose of motor with brake is holding and it cannot be used for braking application.
- When parameter Pr5.10 Sequence at alarm is set to free run (disable dynamic brake), the motor is free run state and requires longer stop distance even if no external force is applied. Make sure that this does not cause any problem.
- When power transistor, etc., becomes defective, the motor will move to the extent equivalent of 180 electrical angle (max.). Make sure that this does not cause any problem.
- The STO turns off the current to the motor but does not turn off power to the servo driver and does not isolate it. When starting maintenance service on the servo driver, turn off the driver by using a different disconnecting device.
External device monitor (EDM) output signal is not a safety signal. Do not use it for an application other than failure monitoring.
Dynamic brake and external brake release signal output are not related to safety function. When designing the system, make sure that the failure of external brake release during STO condition does not result in danger condition.
When using STO function, connect equipment conforming to the safety standards.

[Connector pin assignment]
(Viewed from cable)

* Do not connect anything to NC.

●System configuration

3.Control Circuit Diagram

Wiring to the Connector, X4

Note
Do not connect anythig to PIN No.14,15,16,18.

Wiring to the Connector, X5 (Excluding A5ⅡE, A5E series)

Applicable External Scale

The manufacturers applicable external scales for this product are as follows.

DR. JOHANNES HEIDENHAIN GmbH
Fagor Automation S.Coop
Magnescale Co., Ltd.
Mitutoyo Corporation
NIDEC INSTRUMENTS CORPORATION
Renishaw plc

* For the details of the external scale product, contact each company.

Wiring to the Connector, X6

------------------------------ Tab7 showing ------------------------------

------------------------------ Tab8 showing ------------------------------

MINAS A5 Family (Discontinued Products)

Discontinued Products

Recommended Substitutes

Lineup

Motor Lineup

Driver Lineup

System Configuration

Overall Wiring

[Connector type (100/200 V: A-frame to E-frame)]

[Connector type (400 V: D, E-frame)]

Driver and List of Applicable Peripheral Equipments

Driver Specifications

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

Basic Specifications

Function

A5ⅡE, A5E series (Position control type)

Basic Specifications

Function

Dimensions

Dimensions of Motor

Dimensions of Driver

● The size of A5Ⅱ, A5 series and A5ⅡE, A5E series is same.

●A5ⅡE, A5E series is out of the lineup.

1.Wiring Diagram

Wiring to Connector, XA, XB, XC, XD and Terminal Block

2.Safety Function

Wiring to the Connector, X3 (Excluding A5ⅡE, A5E Series)

Outline Description of Safe Torque Off (STO)

Safety Precautions

3.Control Circuit Diagram

Wiring to the Connector, X4

Wiring to the Connector, X5 (Excluding A5ⅡE, A5E series)

Wiring to the Connector, X6

Option

Software

Setup Software

Selection Software

Software Download

Recently checked products

Recently checked product numbers

Guidelines for Ordering and Usage

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

A5ⅡE, A5E series
(Position control type)