I know this is an old thread but I'll answer anyway.
To do what you want would require five 4 pole (one pole for each wire) relays that could be switched on to power up the individual motors. This could be controlled with a simple 5 position (SP5T) rotary switch.
Now the problem...You don't want to disconnect or reconnect the motor when under power, it would likely fry the drive. When switching between motors you would have to power the drive down, switch to another motor, then power the drive back up.