Panasonic AC Servo Motor Minas A6

More compact, more faster and more easy-to-use Servomotors that meet the demands of the present age.

MINAS A6 Family

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



Advanced Electronic & Mechatronic Devices and Components Exhibition
20th(Wed)-22nd(Fri) April 2017, at Makuhari Messe, Japan.


Small, light, powerful*1 and speedy

Motors shorter than a business card

 Highest speed in the industry and high torque in a compact lightweight body*1

*1 Middle and high inertia types only
*2 MHMF200 W
*3 MSMD200 W


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

 Enhanced position detecting resolution enables smoother and more precise positioning.

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

 Swifter, smarter and easier to use

Powered Up compact driver

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

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

Comparison of position setting waveforms


Example of operation with processing machine


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

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

*1 Comparison with conventional product A5Ⅱ family

Settling time


Adjustment completed in only 3 processes

 Realized 3.2 kHz frequency response to improve productivity.

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

*1 Comparison with conventional product A5Ⅱ family


Reduced maintenance work and trouble.

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

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

● MQMF and MHMF motors with flange size of 80 mm or smaller provided with oils seals
(with protective lip) are not mounting-compatible with A5 Family models.

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


■Applicable oil seals

Flange sizeMotor typeWith oil sealWith oil seal(with protective lip)
80 mm or lessMSMF Mage of nitrile 
rubber (NBR)
No setting
MHMF,MQMF Made of 
Not mounting-compatible with A5 family products
100 mm or moreAll Type Mounting-compatible with A5 family products


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

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

 What is IP?

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

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



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.


Other driver functions

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 (dedicated to Panasonic format product)


Manual/Auto notch filter

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

Notch filter characteristic


Manual/Auto damping filter

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

Damping Filter


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.


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.


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.


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. lt 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.


Multifunctional software for quick adjustment support

PANATERM set-up support software

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


Compliance with international standards

EU DirectivesEMC Directives EN55011
Low-Voltage Directives EN61800-5-1
Machinery Directives
Functional safety*1
ISO13849-1(PL e、Cat.3)
EN62061(SILCL 3)
UL Standards UL508C
UL1004-1、UL 1004-6
CSA Standards C22.2 No.14
Radio Waves Act
(South Korea)(KC)*2

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

Pursuant to the directive 2004/108/EC, article 9(2) 
Panasonic Testing Centre 
Panasonic Service Europe, a division of Panasonic Marketing Europe GmbH
Winsbergring 15, 22525 Hamburg, F.R. Germany 

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

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

Low noise, compliant with EMC directives

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


Compliance with EU safety standards.

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



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

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

Pursuit of ultimate real-time processing

Greatly improved basic performance

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


Multifunctional capabilities to match various needs

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


Simple network

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


● Realtime Express and RTEX are registered trademarks of Panasonic Corporation. Realtime Express is a high-speed
synchronous motion network we developed.
*1 Communication cycle and connections to slave devices other than servomotors should be made according to controller
*2 Commands are updated every 0.125 ms when the communication cycle is 0.0625 ms.
MSMF-Serie 3D Data, stp, MSMF152L1G5
ดาวน์โหลด CAD    
Driver A6SF 3D Data, stp, MBDLT25SF  
Driver A6SF 3D Data, stp, MADLT05SF  
Driver A6SF 3D Data, stp, MADLT15SF  
Driver A6SF 3D Data, stp, MCDLT35SF  
Driver A6SF 3D Data, stp, MDDLT45SF  
Driver A6SF 3D Data, stp, MDDLT55SF  
MDMF-Serie 3D Data, stp, MDMF102L1G5  
MDMF-Serie 3D Data, stp, MDMF152L1G5  
MHMF-Serie 3D Data, stp, MHMF012L1U1  
MHMF-Serie 3D Data, stp, MHMF022L1U1  
MHMF-Serie 3D Data, stp, MHMF042L1U1  
MHMF-Serie 3D Data, stp, MHMF082L1U1  
MHMF-Serie 3D Data, stp, MHMF092L1U1  
MHMF-Serie 3D Data, stp, MHMF102L1G5  
MHMF-Serie 3D Data, stp, MHMF152L1G5  
MHMF-Serie 3D Data, stp, MHMF5AZL1U1  
MSMF-Serie 3D Data, stp, MSMF012L1U1  
MSMF-Serie 3D Data, stp, MSMF022L1U1  
MSMF-Serie 3D Data, stp, MSMF042L1U1  
MSMF-Serie 3D Data, stp, MSMF082L1U1  
MSMF-Serie 3D Data, stp, MSMF092L1U1  
MSMF-Serie 3D Data, stp, MSMF102L1G5  
MSMF-Serie 3D Data, stp, MSMF152L1G5  
MSMF-Serie 3D Data, stp, MSMF5AZL1U1  
ดาวน์โหลด Catalog    
Catalog MINAS A6 series    
MINAS A6 - AC Servo Drives & Motion Control    
MINAS A6 – Additional data sheets: torque characteristics, dimensional diagrams    


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