MINAS A6S Series Servo Driver

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Basic Information
Lineup
System Configuration
Specifications
Dimensions
Wiring/ Connection

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Basic Information

Swifter, smarter and easier to use
Powered Up compact driver

Features

Swifter, smarter and easier to use

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.

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

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

Lifespan diagnosis / degradation diagnosis

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

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.

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.)

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.

Click here for more information.

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Lineup

Driver Lineup

		Series	Voltage (V)	Rated output (W)
Analog/ Pulse/ Modbus	Rotary Motor	A6SE	AC100/ AC200	50 to 2200
		A6SG	AC100/ AC200	50 to 2200
		A6SF	AC100/ AC200/ AC400	50 to 2200

* STO: Safety Torques Off

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System Configuration

Overall Wiring

A6 SF Series (Driver: A-frame Motor: 200 W)

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.

A6 SG Series/ A6 SE Series (Driver: D-frame Motor: 1.0 kW)

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

A6SF Series (Driver: G-frame Motor: 7.5 kW)

A6SF Series (Driver: H-frame Motor: 22.0 kW)

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

Driver and List of Applicable peripheral devices

Driver	Applicable motor	Voltage (V) ^*1	Rated output (kW)	Required Power ( at the rated load) (kVA)	Circuit breaker rated (rated current) (A)	Noise filter (Single phase/ 3-phase )	Surge absorber (Single phase/ 3-phase )	Ferite core	Rated operating current of magnetic (contactor contact configuration ) ^*2	Diameter and withstand voltage of main circuit cable	Crimp terminal for main circuit terminal block ^*3	Diameter and withstand voltage of control power supply cable	Crimp terminal for control power supply terminal block	Diameter and withstand voltage of motor cable ^*4	Diameter and withstand voltage of brake cable
MADL	MSMF MHMF	Single phase, 100	0.05	approx. 0.4	10	DV0P4170	DV0P4190	DV0P1460	20 A (3P+1a)	0.75 mm²/ AWG18 600 VAC or more to 2.0 mm²/ AWG14 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 to 2.0 mm²/ AWG14 600 VAC or more	0.28 mm² to 0.75 mm²/ AWG22 to AWG18 100 VAC or more
	MSMF MQMF MHMF	Single phase, 100	0.1	approx. 0.4		DV0P4170	DV0P4190
	MSMF MHMF	Single/ 3-phase 200	0.05	approx. 0.5		DV0P4170/ DV0PM20042	DV0P4190/ DV0P1450
	MSMF MQMF MHMF	Single/ 3-phase 200	0.1, 0.2			DV0P4170/ DV0PM20042	DV0P4190/ DV0P1450
MBDL	MSMF MQMF MHMF	Single phase, 100	0.2			DV0P4170	DV0P4190
MBDL	MSMF MQMF MHMF	Single/ 3-phase 200	0.4	approx. 0.9		DV0P4170/ DV0PM20042	DV0P4190/ DV0P1450
MCDL	MSMF MQMF MHMF	Single phase, 100	0.4	approx. 0.9	15	DV0PM20042	DV0P4190
MCDL	MSMF MHMF	Single/ 3-phase 200	0.75	approx. 1.8	15	DV0PM20042	DV0P4190/ DV0P1450
MDDL	MGMF	Single/ 3-phase 200	0.85	approx. 2.0	20	DV0P4220	DV0P4190/ DV0P1450		30 A (3P+1a)						0.75 mm²/ AWG18 100 VAC or more
	MSMF		1.0 (80 mm sq.)	approx. 2.4
	MDMF MHMF		1.0
	MHMF		1.0 (80 mm sq.)
	MSMF		1.0
	MGMF		1.3	approx. 2.6
	MSMF MDMF MHMF		1.5	approx. 2.9
MEDL	MGMF	3-phase 200	1.8	approx. 3.4	30	DV0PM20043	DV0P1450	DV0P1460	60 A (3P+1a)	2.0 mm²/ AWG14 600 VAC or more to 3.5 mm²/ AWG12 600 VAC or more				2.0 mm²/ AWG14 600 VAC or more to 3.5 mm²/ AWG12 600 VAC or more
	MSMF MDMF MHMF		2.0	approx. 3.8
	MGMF		2.4	approx. 4.5										3.5 mm²/ AWG12 600 VAC or more
MFDL	MGMF	3-phase 200	2.9	approx. 5.0	50	DV0P3410	DV0P1450			3.5 mm²/ AWG12 600 VAC or more	Terminal block M5		Terminal block M5
	MSMF MDMF MHMF		3.0	approx. 5.2
	MSMF MDMF MHMF		4.0	approx. 6.5					100 A (3P+1a)
	MGMF		4.4	approx. 7.0
	MSMF MDMF MHMF		5.0	approx. 7.8
MGDL	MGMF	3-phase 200	5.5	approx. 8.5	60	HF3080C-SZA (Recommended components )	DV0P1450	DV0P1460 RJ8095 (Recommended components ) T400-61D *5	100 A (3P+1a)	8.0 mm²/ AWG8 600 VAC or more			Terminal block M3	14 mm²/ AWG6 600 VAC or more	0.75 mm²/ AWG18 100 VAC or more
	MDMF		7.5	approx. 11
	MHMF		7.5	approx. 11
MHDL	MDMF	3-phase 200	11.0	approx. 15	125	HF3100C-SZA (Recommended components )	DV0P1450		150 A (3P+1a)	22 mm²/ AWG4 600 VAC or more	Terminal block M6		Terminal block M4	22 mm²/ AWG4 600 VAC or more *6 Terminal block M8
			15.0	approx. 20	125					22 mm²/ AWG4 600 VAC or more
			22.0	approx. 28	175					38 mm²/ AWG2 600 VAC or more

*1 Select peripheral devices for single/3phase common specification according to the power source.
*2 The magnetic contactor used for the external dynamic brake resistor should have the same rating as the magnetic contactor used for the main circuit.
*3 For the ground screw, use the same crimp terminal as that for the main circuit terminal block.
*4 The thickness of the grounding wire and the thickness of the external dynamic brake resistor should be the same as or larger than the thickness of the motor wire.
*5 Please use all to comply with international standards.
*6 22.0 kW The connection of the motor power line is a terminal block. In order to comply with the CSA standard, it is necessary to use a CSA standard-certified power wire round terminal.

● 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.

[Caution]

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) ^Note)1	Nominal size	Fastening torque (N·m) ^Note)1
MFDL	MFDL L1, L2, L3, L1C, L2C, P, RB, B, N, U, V, W	M5	1.8 to 2.0	M3	0.19 to 0.21
MGDL	L1C, L2C	M4	0.4 to 0.6	M3	0.19 to 0.21
MGDL	L1, L2, L3, P, B, N, U, V, W	M5	2.0 to 2.4	M3	0.19 to 0.21
MHDL	L1C, L2C, DB1, DB2	M4	0.7 to 1.0	M5	2.0 to 2.5
	L1, L2, L3, P, B, N, U, V, W	M6	2.2 to 2.5	M3	0.19 to 0.21

■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) ^Note)1	Nominal size	Fastening torque (N·m) ^Note)1
MADL, MBDL, MCDL, MDDL, MEDL	M4	1.0 to 1.2	M2.6	0.2±0.05
MFDL, MGDL	M5	1.8 to 2.0
MHDL	M6	2.4 to 2.6

■Motor: Fastening torque

Motor	U, V, W terminal Ground terminal screw		Terminal box cover fastening screw
Motor	Nominal size	Fastening torque (N·m) ^Note)1	Nominal size	Fastening torque (N·m) ^Note)1
MDMF 22.0 kW	M8	12.0	M5	4.4

Note)1

[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.

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Driver Specifications

A6 SF series (Multifunction type)
Position, Speed, Torque, Full-closed type

Basic Specifications

Item				Specifications
Input power	100 V	Main circuit		Single phase 100 V (＋10 ％－15 ％) ～120 V (＋10 ％－15 ％) 50 Hz / 60 Hz
	100 V	Control circuit		Single phase 100 V (＋10 ％－15 ％) ～120 V (＋10 ％－15 ％) 50 Hz / 60 Hz
	200 V	Main circuit	A-frame to D-frame	Single/3-phase 200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
		Main circuit	E-frame, H-frame	3-phase 200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
		Control circuit	A-frame to D-frame	Single phase 200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
		Control circuit	E-frame, H-frame	Single phase　200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
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				23-bit (8388608 resolution) absolute encoder, 7-wire serial * When using it as an incremental system (not using multiturn data), do not connect the battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings).
External scale feedback				A/B phase, homing signal differential input. Serial communication is also supported. Manufacturers that support serial communication scale: Fagor Automation S.Coop., HEIDENHAIN, 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) Both open collector and line driver interface can be connected. High speed line driver interface can be connected.
	Pulse signal		Output	4 outputs ( Line driver: 3 output, open collector: 1 output) Line driver output for encoder pulses (A/B/Z signal) or external feedback pulses (EXA/EXB/EXZ signal) open collector output also available for Z or EXZ signal.
Communication function		USB		USB interface to connect to computers for parameter setting or status monitoring.
		RS232		1:1 communication
		RS485		1: n communication (max 31) (Supports Modbus)
Safety function				A dedicated connector is provided for Functional Safety.
Front panel				(1) 5 keys (2) LED (6-digit)
Regeneration				A-frame, B-frame, G-frame, 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 H-frame: External resistor 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.

Function

Item			Specifications
Control input			(1) servo-ON input (2) Alarm clear input (3) Gain switch input (4) Positive direction drive inhibit input (5) Negative direction drive inhibit input (6) Forced alarm input (7) Inertia ratio switch input
Control output			(1) Servo-alarm output (2) Servo-ready output (3) External brake off output (4) At-speed output (5) Torque in-limit output (6) Zero speed detection output (7) Warning output (8) Alarm clear attribute output (9) Servo on status output
Position control	Control input		(1) Deviation counter clear input (2) Command pulse inhibit input (3) Command division/multiplication switch input (4) Anti-vibration switch input (5) Torque limit switch input (6) Control mode switch input
	Control output		(1) In-position output (2) Position command ON/OFF output
	Pulse input	Max. command pulse frequency	500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)
		Input pulse signal format	Differential input. Selectable by parameter. ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
		Electronic gear (Division/Multiplication of command pulse)	Applicable scaling ratio: 1/1000 times to 8000 times Any value of 1 - 2³⁰ can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.
		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.
	Two-degree-of-freedom control		Available
	Anti-vibration control		Available
	Load variation suppression function		Available
	Block operation		Modbus (RS 232, RS 485) or interface is selectable
Speed control	Control input		(1) Internal command velocity selection input (2) Speed zero clamp input (3) Velocity command sign input (4) Control mode switch input
	Control output		(1) Speed coincidence output (2) Velocity command ON/OFF output
	Analog input	Velocity command input	Velocity command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (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 8 speed 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.
	Speed zero clamp		Internal velocity command can be clamped to 0 with speed zero clamp input.
	Two-degree-of-freedom control		Available
Torque control	Control input		Speed zero clamp input, torque command sign input, control mode switch input.
	Control output		(1) Speed coincidence output (2) Speed in-limit output
	Analog input	Torque command input	Torque command input with analog voltage is possible. Scale setting and command polarity vary depending on parameters. (3 V/rated torque Default)
	Speed limit function		Speed limit value with parameter is enabled.
Full-closed control	Control input		(1) Deviation counter clear input (2) Command pulse inhibit input (3) Command division/multiplication switch input (4) Anti-vibration switch input (5) Torque limit switch input
	Control output		(1) In-position output (2) Position command ON/OFF output
	Pulse input	Max. command pulse frequency	500 kpps (Optocoupler interface), 8 Mpps (When using line receiver input multiplied by 4)
		Input pulse signal format	Differential input. Selectable by parameter. ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
		Electronic gear (Division/Multiplication of command pulse)	Applicable scaling ratio: 1/1000 times to 8000 times Any value of 1 - 2 ³⁰ can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.
		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.
	Setting range of external scale division/multiplication		1/40 times to 1280 times Although ratio of the encoder pulse (numerator) and external scale pulse (denominator) can be arbitrarily set in the range of 1 to 2 ²³ for the numerator and in the range of 1 to 2 ²³ for the denominator, this product should be used within the aforementioned range.
	Two-degree-of-freedom control		Available
	Anti-vibration control		Available
	Load variation suppression control		Available
	Block operation		Modbus (RS 232, RS 485) or interface is selectable
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.
	Alarm data trace back		Tracing back of alarm data is available

A6 SG series (RS485 communication type)
A6 SE series (Besic type)
Position control only type

Basic Specifications

Item				Specifications
Input power	100 V	Main circuit		Single phase　100 V (＋10 ％－15 ％) ～120 V (＋10 ％－15 ％) 50 Hz / 60 Hz
	100 V	Control circuit		Single phase　100 V (＋10 ％－15 ％) ～120 V (＋10 ％－15 ％) 50 Hz / 60 Hz
	200 V	Main circuit	A-frame to D-frame	Single/3-phase　200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
		Main circuit	E-frame to F-frame	3-phase　200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
		Control circuit	A-frame to D-frame	Single phase　200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
		Control circuit	E-frame to F-frame	Single phase　200 V (＋10 ％－15 ％) ～240 V (＋10 ％－15 ％) 50 Hz / 60 Hz
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				23-bit (8388608 resolution) absolute encoder, 7-wire serial * A6SG series When using it as an incremental system (not using multiturn data), do not connect the battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings). * A6SE series Since it can be used only as an incremental system, do not connect the battery for absolute encoder. Parameter Pr. 0.15 must be set to “1” (factory settings).
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 input 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		USB interface to connect to computers for parameter setting or status monitoring.
		RS232		1:1 communication	* RS485, RS232 connector is not installed on A6 SE series.
		RS485		1: n communication (max 31)	* RS485, RS232 connector is not installed on A6 SE series.
Front panel				(1) 5 keys (2) LED (6-digit)
Regeneration				A-frame, 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				A-frame to F-frame: Built-in
Control mode				(1) Position control (2) Internal velocity command (3) Position/Internal velocity command

*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 input (2) Command pulse inhibit input (3) Command division/multiplication switch input (4) Anti-vibration switch input (5) Torque limit switch input (6) Control mode switch input
	Control output		(1) In-position output (2) Position command ON/OFF output
	Pulse input	Max. command pulse frequency	500 kpps (Optocoupler interface) 8 Mpps (Line receiver interface)
		Input pulse signal format	Differential input. Selectable by parameter. ([1]Positive/Negative pulse [2]A/B quadrature [3]Pulse/Direction)
		Electronic gear (Division/Multiplication of command pulse)	Applicable scaling ratio: 1/1000 times to 8000 times Any value of 1 - 2 ³⁰ can be set for both numerator (which corresponds to encoder resolution) and denominator (which corresponds to command pulse resolution per motor revolution), but the combination has to be within the range shown above.
		Smoothing filter	Primary delay filter or FIR type filter is adaptable to the command input
	Anti-vibration control		Available
	Two-degree-of-freedom control		Available
	Load variation suppression control		Available
	Block operation		Modbus (RS 232, RS 485) or interface is selectable. (A6SE : interface only.)
Speed control	Control input		(1) Internal command velocity selection input (2) Speed zero clamp input (3) Velocity command sign input (4) Control mode switch input
	Control output		(1) Speed coincidence output (2) Velocity command ON/OFF output
	Internal velocity command		Switching the internal 8 speed 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		Internal velocity command can be clamped to 0 with speed zero clamp input.
	Two-degree-of-freedom 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.).
	Protectiv function	Hard error	Over-voltage, under-voltage, over-speed, over-load, over-heat, over-current and encoder error etc.
	Protectiv function	Soft error	Excess position deviation, command pulse division error, EEPROM error etc.
	Alarm data trace back		Tracing back of alarm data is available

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

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

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

Wiring Diagram

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

Connect an external regenerative resistor.

Frame No.	Short wire (Accessory)	Built-in regenerative resistor	Connection of the connector XBDo not connect anything to N.
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	• Connect an external regenerative resistor between P-B.	• Always open between P-B.

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
C-frame D-frame	with	with	• Remove the short wire accessory from between RB-B. • Connect an external regenerative resistor between P-B.	• Shorted between RB-B with an attached short wire

Note)1

Frame No.	Short wire (Accessory)	Built-in regenerative resistor	Connection of the connector XCDo not connect anything to N.
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 RB-B. • Connect an external regenerative resistor between P-B.	• Shorted between RB-B with an attached short wire

Note)1

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal blockDo not connect anything to N.
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 RB-B. • Connect an external regenerative resistor between P-B.	• Shorted between RB-B with an attached short bar

Connection of regenerative resistor

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal blockDo not connect anything to N.
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 P-B.	• Always open between P-B.

Connection of regenerative resistor

Frame No.	Short bar (Accessory)	Built-in regenerative resistor	Connection of terminal blockDo not connect anything to N.
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	• Connect an external regenerative resistor between P-B.	• Always open between P-B.

Safety Function

Wiring to the Connector, X3 * Excluding A6 SE, A6 SG 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 STO state. When the driver becomes STO state, front panel displays the “St.”. Then, when the driver's state is STO input is off and servo-on input is off, the driver automatically becomes servo-off.

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

Control Circuit Diagram

Wiring to the Connector, X4

The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 31, 32
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

The functions of the following pin can be changed using parameters.
Input: 8, 9, 26, 27, 28, 29, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

The functions of the following pin can be changed using parameters
.Input: 8, 9, 26, 27, 28, 29, 31, 32, 33
Output: 10-11, 12, 34-35, 36-37, 38-39, 40
* The above diagram is a composition of the shipment parameter.

Wiring to the Connector, X5 * Excluding A6 SE, A6 SG Series

Applicable External Scale

Scale Type	Partner	Series	Resolution^*1 [μm]	Max. rate^*1 [m/s]
Parallel Type (A/B/Z phase)	General	—	Maximum speed after4× multiplication : 4 Mpps
Serial communication (Incremental)	Magnescale Co., Ltd.	SL700+PL101RP/RHP	0.1	10
		SL710+PL101RP/RHP	0.1	10
		SR75/SR85	0.01 to 1	3.3
		BF1	0.001/0.01	0.4/1.8
		SQ10	0.05/0.1/0.5/1	3
	NIDEC MACHINE TOOL CORPORATION	MPLIN	0.1	30
	NIDEC INSTRUMENTS CORPORATION	PSLH041+PSLG	0.1	6
Serial communication (Absolute)	FAGOR AUTOMATION	S3BP/G3BP	0.01/0.05	3
		LAP	0.01/0.05	3
		EXA/ EXG/ EXT	0.01/0.05	8
		H2AP-D200/H2AP-D90	29 bit/23 bit	750 rpm/1500 rpm
		S2AP-D170,/S2AP-D90	23 bit	1500 rpm
	HEIDENHAIN	LIC 2197P/LIC 2199P	0.05/0.1	10
		LIC 4193P/LIC 4195P LIC 4197P/LIC 4199P	0.001/0.005/0.01	10
		LC 195P/LC 495P	0.001/0.01	3
		ECA 4490P	27 bits to 29 bits	7000 rpm〜550 rpm (Depends on drum size)
		RCN 2x90P/RCN 5x90P	26 bits/28 bits	1500 rpm
		RCN 8x90P	29 bit	500 rpm
	Magnescale Co.,Ltd.	SR77/SR87	0.01 to 1	3.3
	Mitutoyo Corporation	AT573-SC/H	0.05	2.5
		ST700	0.1	5
		ST1300	0.001/0.01	8
	NIDEC MACHINE TOOL CORPORATION	MPZA/MPRZ	23 bits	10000 r/min, 5000 r/min
	Renishaw plc	RESOLUTE	0.001	4
			0.05	100
			0.1	100
	RSF Electronik	MC 15P MP/MC 15P MK	0.05/0.1	10
	RSF Electronik	MCR 15P	22 bits〜25 bits	—

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

* For more information about the external scale product, please contact the manufacturer.

MINAS A6S Series Servo Driver

Basic Information

Features

Swifter, smarter and easier to use

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

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

Realized 3.2 kHz frequency response to improve productivity.

Lifespan diagnosis / degradation diagnosis

Other driver functions

Adaptive load control

Friction torque compensation

Manual/Auto damping filter

Manual/Auto notch filter

3-Step gain

Inertia ratio conversion

Input/output signal assignment

Torque limiter switching

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

Dynamic braking

Inrush current preventive function

Parameter initialization

Regenerative energy discharge

Multifunctional software for quick adjustment support PANATERM set-up support software

Lineup

Driver Lineup

System Configuration

Overall Wiring

A6 SF Series (Driver: A-frame Motor: 200 W)

A6 SG Series/ A6 SE Series (Driver: D-frame Motor: 1.0 kW)

A6SF Series (Driver: G-frame Motor: 7.5 kW)

A6SF Series (Driver: H-frame Motor: 22.0 kW)

Driver and List of Applicable peripheral devices

Driver Specifications

A6 SF series (Multifunction type)Position, Speed, Torque, Full-closed type

Basic Specifications

Function

A6 SG series (RS485 communication type)A6 SE series (Besic type)Position control only type

Basic Specifications

Function

Dimensions

Dimensions of Motor

Dimensions of Driver

Wiring Diagram

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

Safety Function

Wiring to the Connector, X3 * Excluding A6 SE, A6 SG Series

Outline Description of Safe Torque Off (STO)

Safety Precautions

[Connector pin assignment](Viewed from cable)

●System configuration

Control Circuit Diagram

Wiring to the Connector, X4

Wiring to the Connector, X5 * Excluding A6 SE, A6 SG Series

Applicable External Scale

Wiring to the Connector, X6

Recently checked products

Recently checked product numbers

Guidelines for Ordering and Usage

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

Multifunctional software for quick adjustment support
PANATERM set-up support software

A6 SF series (Multifunction type)
Position, Speed, Torque, Full-closed type

A6 SG series (RS485 communication type)
A6 SE series (Besic type)
Position control only type