Mitsubishi Electric Melservo MR-J5-A User manual

MR-J5-A
User's Manual
(Introduction)
-MR-J5-_A_
Mitsubishi Electric AC Servo System

1
SAFETY INSTRUCTIONS
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read
through this manual, installation guide, and appended documents carefully. Do not use the equipment until you have a full
knowledge of the equipment, safety information and instructions.
In this manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence depending on conditions.
Please follow the instructions of both levels because they are important to personnel safety.
Forbidden actions and required actions are indicated by the following diagrammatic symbols.
In this manual, precautions for hazards that can lead to property damage, instructions for other functions, and other
information are shown separately in the "POINT" area.
After reading this manual, keep it accessible to the operator.
WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in
medium or slight injury.
Indicates a forbidden action. For example, "No Fire" is indicated by .
Indicates a required action. For example, grounding is indicated by .

2
[Installation/wiring]
[Setting/adjustment]
[Operation]
[Maintenance]
DISPOSAL OF WASTE
Please dispose of this product, battery (primary battery), and other options according to your local laws and regulations.
WARNING
●To prevent an electric shock, turn off the power and wait for 15 minutes or more before starting wiring
and/or inspection.
●To prevent an electric shock, ground the servo amplifier.
●To prevent an electric shock, any person who is involved in wiring should be fully competent to do the
work.
●To prevent an electric shock, mount the servo amplifier before wiring.
●To prevent an electric shock, connect the protective earth (PE) terminal of the servo amplifier to the
protective earth (PE) of the cabinet, then connect the grounding lead wire to the ground.
●To prevent an electric shock, do not touch the conductive parts.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, do not operate the switches with wet hands.
WARNING
●To prevent an electric shock, any person who is involved in inspection should be fully competent to do
the work.
●To prevent an electric shock, do not operate the switches with wet hands.

3
ABOUT THE MANUAL
e-Manuals are Mitsubishi Electric FA electronic book manuals that can be browsed with a dedicated tool.
e-Manuals enable the following:
• Searching for desired information in multiple manuals at the same time (manual cross searching)
• Jumping from a link in a manual to another manual for reference
• Browsing for hardware specifications by scrolling over the components shown in product illustrations
• Bookmarking frequently referenced information
• Copying sample programs to engineering tools
If using the servo for the first time, prepare and use the following related manuals to ensure that the servo is used safely.
No. Manual name Manual No.
(1) MR-J5-A User's Manual (Introduction) SH(NA)-030296ENG
(2) MR-J5 User's Manual (Hardware) SH(NA)-030298ENG
(3) Rotary Servo Motor User's Manual (HK series) SH(NA)-030314ENG
(4) Linear Servo Motor User's Manual (LM-H3/LM-U2/LM-F/LM-K2 series) SH(NA)-030316ENG
Linear Servo Motor User's Manual (LM-AJ series) IB(NA)-0300518ENG
(5) Direct Drive Motor User's Manual SH(NA)-030318ENG
(6) MR-J5 Partner's Encoder User's Manual SH(NA)-030320ENG
(7) MR-J5 User's Manual (Function) SH(NA)-030300ENG
(8) MR-J5 User's Manual (Adjustment) SH(NA)-030306ENG
(9) MR-J5-A User's Manual (Parameters) SH(NA)-030310ENG
(10) MR-J5 User's Manual (Troubleshooting) SH(NA)-030312ENG
(1) Introduction
(3) Rotary Servo
(4) Linear Servo
(5) Direct Drive
(2) Hardware
(6) Partner Encoder
(7) Function
(8) Adjustment
(9) Parameters
(10) Troubleshooting
The manual is necessary for operation of servo amplifiers.
The manual is necessary for adjustment of operation status.
The manual is necessary when looking up details of each
function.
The manual is necessary for specifying the causes of alarms
and warnings.
This manual is necessary primarily for installing, wiring,
and using options.

4
Interpreting servo parameter numbers
For a servo parameter which uses one particular digit to select a function, the position of its digit indicates the detail number of
the servo parameter, and the value in hexadecimal which is set to the digit indicates the selected function.
For example, the detail number of the servo parameter in the last digit is expressed as [Pr. PA01.0]. In addition, a servo
parameter which uses a combination of several digits to select a function, is expressed using "-" as seen in [Pr. PA01.0-1].
The following is an example of the servo parameter number PA01 with the setting values of "FEDCBA98" in hexadecimal.
• When setting a servo parameter with one particular digit
• When setting a servo parameter using a combination of several digits
For example, if the servo parameter name is "Function selection A-1", the setting digit name is "Forced stop deceleration
function selection", and the setting digit is the forth last digit in PA04, the servo parameter is expressed as shown below.
[Pr. PA04.3 Forced stop deceleration function selection]
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
Servo
parameter
Symbol Name Description
PA04.3 *AOP Forced stop deceleration function
selection
Set "Forced stop deceleration function" to enabled/disabled.
Initial value: 1h (enabled)
Quantity SI (metric) unit U.S. customary unit
Mass 1 [kg] 2.2046 [lb]
Length 1 [mm] 0.03937 [inch]
Torque 1 [N•m] 141.6 [oz•inch]
Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
[Pr. PA01] =
PA01.0 = "8"
PA01.1 = "9"
PA01.2 = "A"
PA01.3 = "B"
PA01.4 = "C"
PA01.5 = "D"
CDBFAE89
PA01.6 = "E"
PA01.7 = "F"
Detail No.
[Pr. PA01] =
PA01.0-1 = "98"
PA01.2-4 = "CBA"
PA01.5 = "D"
CDBFAE89
PA01.6 = "E"
PA01.7 = "F"
Detail No.

5
CONTENTS
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
CHAPTER 1 SPECIFICATIONS 7
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.7 Special specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Servo amplifiers without the dynamic brake (-ED/-RU). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
CHAPTER 2 FUNCTION 15
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CHAPTER 3 STRUCTURE 24
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Display sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Diagnostic mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Alarm mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
External I/O signal display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
CHAPTER 4 STARTUP 44
4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

6
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 64
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 67
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of
Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

1 SPECIFICATIONS
1.1 Outline 7
1
1SPECIFICATIONS
1.1 Outline
MR-J5-_A_ is a servo amplifier that is used with pulse train commands/analog voltage commands.
1.2 Model designation
Rating plate
The following shows an example of the rating plate for explanation of each item.
Serial number
Model
Capacity
Applicable power supply
Rated output
Standard, manual number
Ambient temperature
IP rating
KC certification number
The year and month of manufacture
Country of origin

81 SPECIFICATIONS
1.3 Servo amplifier/motor combinations
Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
*1 : The corresponding item is included or supported. : The corresponding item is not included or not supported.
1.3 Servo amplifier/motor combinations
Refer to "Servo amplifier/motor combinations" in the following manual.
MR-J5 User's Manual (Hardware)
Item Special specifications *1 Detailed explanation
Not
attached
(standard
model)
-RJ -ED -RU
CN2L connector Page 25 External encoder
connector
Linear servo system Two-wire type 
Four-wire type 
A/B/Z-phase differential
output method

Fully closed loop system
Scale measurement function
Two-wire type 
Four-wire type 
A/B/Z-phase differential
output method

Analog input 14 bits or its equivalent Refer to [Pr. PC60.1] in the
following manual.
MR-J5-A User's Manual
(Parameters)
16 bits or its equivalent 
Built-in dynamic brake 7 kW or less Page 14 Servo amplifiers
without the dynamic brake (-ED/-
RU)
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
500 5
700 7
MR - - 6 0 A J-RJ5
-RJ
-ED
-RU
Special specification
Series
Symbol Special specification
Rated output None Standard
Rated output [kW]
Symbol Compatible with load-side encoder A/B/Z-phase input/high-resolution analog input
General-purpose interface
MR-J5-_A without the dynamic brake
MR-J5-_A-RJ without the dynamic brake

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 9
1
1.4 Servo amplifier standard specifications
Model: MR-J5- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current [A] 1.3 1.8 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0
Main circuit power
supply input
Voltage/
Frequency
At AC
input
3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/
60 Hz
3-phase or 1-
phase 200 V AC to
240 V AC, 50 Hz/
60 Hz *4
3-phase 200 V AC to 240 V
AC, 50 Hz/60 Hz
At DC
input
283 V DC to 340 V DC
Rated current [A] *3 0.9 1.5 2.6 3.2 3.8 5.0 10.5 16.0 21.7 28.9
Permissible
voltage
fluctuation
At AC
input
3-phase or 1-phase 170 V AC to 264 V AC 3-phase or 1-
phase 170 V AC to
264 V AC *4
3-phase 170 V AC to 264 V
AC
At DC
input
241 V DC to 374 V DC
Permissible frequency
fluctuation
Within ±5 %
Power supply capacity
[kVA]
Refer to "Power supply capacity and generated loss" in the following manual.
MR-J5 User's Manual (Hardware)
Inrush current [A] Refer to "Inrush currents at power-on of main circuit and control circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Control circuit
power supply
input
Voltage/
Frequency
At AC
input
1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
At DC
input
283 V DC to 340 V DC
Rated current [A] 0.2 0.3
Permissible
voltage
fluctuation
At AC
input
1-phase 170 V AC to 264 V AC
At DC
input
241 V DC to 374 V DC
Permissible frequency
fluctuation
Within ±5 %
Power consumption [W] 30
Inrush current [A] Refer to "Inrush currents at power-on of main circuit and control circuit" in the following manual.
MR-J5 User's Manual (Hardware)
Interface power
supply
Voltage 24 V DC ±10 %
Current capacity [A] 0.5 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Communication
function
USB Connection to a personal computer or other devices (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Position control
mode
Max. pulse frequency 4 Mpulses/s (for differential receiver) *5, 200 kpulses/s (for open collector)
Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 26 bits
Command pulse multiplying
factor
Electronic gear A/B multiple, A:1 to 2147483647, B:1 to 2147483647, 1/10 < A/B < 64000
In-position range setting 0 pulses to ±16777215 pulses (command pulse unit)
Excessive error ±3 revolutions
Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control
mode
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
Analog speed command
input
0 V DC to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
Speed fluctuation ratio ±0.01 % or less (load fluctuation: 0 % to 100 %), 0 % (power fluctuation: ±10 %)
±0.2 % or less (ambient temperature: 25 °C ±10 °C) when using analog speed commands
Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)

10 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity.
*2 If closely mounting the servo amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective load
ratio.
*3 This current value is applicable when a 3-phase power supply is used.
*4 If using 1-phase power supply in combination with the servo motor of 750 W or higher, operate the servo amplifier at 75 % or less of the
effective load ratio.
*5 When the servo amplifier is set to the initial setting, commands up to 1 Mpulse/s can be input. When inputting commands exceeding 1
Mpulse/s and up to 4 Mpulses/s, change the setting in [Pr. PA13].
*6 This does not apply to connectors.
Functional safety
*1 A test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuits to perform
self-diagnosis.
*2 Although the special proof tests within the mission time of the safety sub-function is not needed to be performed, the suggested
diagnostic test interval in IEC 61800-5-2: 2016 is at least one test per three months for Category 3 PL e, SIL 3.
Torque control
mode
Analog torque command
input
0 V DC to ±8 V DC/maximum torque (input impedance: 10 kΩto 12 kΩ)
Speed limit Set with servo parameter setting or external analog input (0 V DC to ±10 V DC/rated speed)
Fully closed loop control Supported
Load-side
encoder interface
MR-J5-_A Mitsubishi Electric high-speed serial communication
MR-J5-_A-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor
overheat protection, encoder error protection, regenerative error protection, undervoltage protection,
instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole
detection protection, and linear servo control error protection
Satisfied
standards
CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
UL standard UL 61800-5-1
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling,
open (IP20) *6
Close mounting *2 3-phase power supply input Possible
1-phase power supply input Possible Impossible 
Mass [kg] 0.8 1.0 1.4 2.2 3.7 6.2
Item Specifications
Safety sub-function STO (IEC/EN 61800-5-2)
Safety
performance
Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
Response performance 8 ms or less (STO input off →energy shut off)
Test pulse input (STO) *1 Test pulse interval: 1 Hz to 25 Hz, test pulse off time: Up to 1 ms
Mean time to dangerous failure
(MTTFd)
MTTFd ≥100 [years] (314a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous Failure per
Hour (PFH)
PFH = 6.4 × 10-9 [1/h]
Mission time (TM) *2 TM= 20 [year]
Model: MR-J5- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 11
1
Environment
*1 Refer to "Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m" in the following manual for using the
product at altitude exceeding 1000 m.
MR-J5 User's Manual (Hardware)
Item Operation Transportation Storage
Ambient
temperature
0 ˚C to 60 ˚C (non-freezing)
Class 3K3 (IEC 60721-3-3)
-25 ˚C to 70 ˚C (non-freezing)
Class 2K12 (IEC 60721-3-2)
-25 ˚C to 70 ˚C (non-freezing)
Class 1K4 (IEC 60721-3-1)
Ambient humidity 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing) 5 %RH to 95 %RH (non-condensing)
Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust
Altitude/
atmospheric
pressure
Altitude: 2000 m or less *1 Transportation conditions: Must be
transported by ground/sea, or air at an
atmospheric pressure of 700 hPa or more.
Atmospheric pressure: 700 hPa to 1060
hPa
(equivalent to the altitude of -400 m to 3000
m.)
Vibration resistance When there is continuous vibration:
10 Hz to 57 Hz, displacement amplitude
0.075 mm
57 Hz to 150 Hz, acceleration amplitude
9.8 m/s2
Class 3M1 (IEC 60721-3-3)
When there is continuous vibration:
10 Hz to 55 Hz, acceleration amplitude 5.9
m/s2
2 Hz to 8 Hz, displacement amplitude (half
amplitude) 7.5 mm
8 Hz to 200 Hz, acceleration amplitude 20
m/s2
Class 2M3 (IEC 60721-3-2)
2 Hz to 9 Hz, displacement amplitude (half
amplitude) 1.5 mm
9 Hz to 200 Hz, acceleration amplitude 5
m/s2
Class 1M2 (IEC 60721-3-1)
Dielectric strength Between main circuit (power supply/power terminal) and PE: 1500 V AC, 1 minute, 50 Hz/60 Hz
Insulation
resistance
Between main circuit (power supply/power terminal) and PE: 0.5 MΩor more (with a 500 V DC megger)

12 1 SPECIFICATIONS
1.5 Function block diagram
1.5 Function block diagram
The following shows the function block diagram of this servo amplifier.
*1 The regenerative resistor is not built into the MR-J5-10A_.
*2 Servo amplifiers with the rated output symbol of 70 (MR-J5-70A_) or greater have a cooling fan.
*3 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector.
*4 To configure an absolute position detection system by using a direct drive motor, the battery is required. To configure the absolute
position detection system by using the HK series servo motor, the battery is not required.
UU
U
L11
L21
N-CD
L3
L2
L1
MCMCCB U
V
W
U
V
W
P3 P4 P+
+
+B
RA B1
B2
CN4
M
CN2
CN8
CN5 CN6
I/F
USB D/AA/D
USB
CN3
*1
CN2L
*3
E
Power factor improving
DC reactor
Regenerative
option
Servo amplifier Servo motor
Diode
stack
Dynamic
brake circuit
Relay
Current
detector
Power
supply Regenerative
TR
Charge
light
Cooling fan
*2
Electromagnetic
brake
Control
circuit
power
supply STO
circuit
STO
switch
Encoder
Overcurrent
protection
Base
amplifier
Voltage
detection
Current
detection
Step-
down
circuit
Control engine
Battery
*4
External encoder
D I/O control
Servo-on
Command pulse train input
Start
Malfunction, or others
Analog
(2 channels)
Personal
computer Analog monitor
(2 channels)
24 V DC

1 SPECIFICATIONS
1.6 Configuration including peripheral equipment 13
1
1.6 Configuration including peripheral equipment
Equipment other than the servo amplifier and servo motor is optional or a recommended product.
The following is an example using MR-J5-20A-RJ.
*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
*2 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector. If using the MR-J5-_A-RJ
servo amplifier in a linear servo system or a fully closed loop system, connect an external encoder to this connector. Refer to the
following for the compatible external encoders.
Page 24 Parts identification
CN5
P+
C
L11
L21
P3
P4
MR Configurator2
CN6
CN8
CN3
CN2
W
V
U
L1
L2
L3
*1
(MC)
CN2L *2
RS T
C
N
4
L2
L3
N-
P3
P4
P+
C
D
L11
L21
U
V
W
L1 C
N
1
C
N
5
C
N
6
C
N
8
C
N
2
C
N
3
C
N
2
L
(FR-BSF01)
(FR-HEL)
(MCCB)
E
Power supply
Molded-case
circuit breaker
Personal
computer
Magnetic
contactor
Analog monitor
Safety relay
Line noise filter
Junction terminal block
Power factor
improving
DC reactor
Servo motor
Regenerative
option

14 1 SPECIFICATIONS
1.7 Special specifications
1.7 Special specifications
Servo amplifiers without the dynamic brake (-ED/-RU)
Summary
This section describes the servo amplifiers without the dynamic brake. Items not described in this section are the same as the
MR-J5-_A-(RJ).
Specifications
The built-in dynamic brakes of the servo amplifiers with capacity of 7 kW or less are removed.
Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power
supply shut-off.
When the following servo motors are being used, the electronic dynamic brake may be activated at an alarm occurrence.
Setting the following servo parameter disables the electronic dynamic brake.
When [Pr. PA04.3] is set to "2" (initial value), the forced stop deceleration function may be executed at an alarm occurrence.
Setting [Pr. PA04.3] to "0" disables the forced stop deceleration function.
Series Servo motor
HK-KT HK-KT053W/HK-KT13W/HK-KT1M3W/HK-KT13UW/HK-KT23W/HK-KT43W/
HK-KT63W/HK-KT23UW/HK-KT43UW
HK-ST HK-ST52W/ST1024W
Servo amplifier Servo parameter Setting value
MR-J5-_A-ED
MR-J5-_A-RU
[Pr. PF09.0] 2

2 FUNCTION
2.1 Function list 15
2
2FUNCTION
2.1 Function list
The function list of this servo amplifier is shown in the following table. For details of the functions, refer to each section
indicated in the detailed explanation field.
Control mode
Drive motor
Network
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Pulse/analog/DI
command
Position control mode (P) (pulse
train input)
This function operates the servo motor in the
position control mode by the pulse train input.
A0 Refer to "CONTROL MODE"
in the following manual.
MR-J5 User's Manual
(Function)
Speed control mode (S) (Internal
speed command/analog speed
command)
This function operates the servo motor in the
speed control mode by the internal speed
command or analog speed command.
A0
Torque control mode (T) (Analog
torque command)
This function operates the servo motor in the
torque control mode by the analog torque
command.
A0
Test operation Test operation mode This function requires MR Configurator2 for
JOG operation, positioning operation, motor-
less operation, DO forced output and program
operation.
A0 Page 57 Test operation
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Universal drive Linear servo motor Using the linear servo motor and linear encoder
enables the linear servo system to be
configured.
A0 Refer to "USING A LINEAR
SERVO MOTOR" in the
following manual.
MR-J5 User's Manual
(Hardware)
Direct drive motor Using this function enables the direct drive
servo system to be configured to drive the direct
drive motor.
A0 Refer to "USING A DIRECT
DRIVE MOTOR" in the
following manual.
MR-J5 User's Manual
(Hardware)
Encoder High-resolution encoder A 67108864 pulses/rev high-resolution encoder
is used for the encoder of the rotary servo
motor.
A0 
Batteryless absolute position
encoder
The rotation position of the servo motor can be
backed up without the battery. Using the servo
motor with this encoder enables an absolute
value detection system to be configured without
battery.
A0 Refer to "ABSOLUTE
POSITION DETECTION
SYSTEM" in the following
manual.
MR-J5 User's Manual
(Hardware)
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Remote
maintenance
Firmware update This function updates the firmware of the servo
amplifier.
A0 Refer to "Firmware update" in
the following manual.
MR-J5 User's Manual
(Function)

16 2 FUNCTION
2.1 Function list
Position detection
Operation function
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Control method Semi closed loop system This function uses the servo motor encoder to
configure semi closed loop systems.
A0 
Fully closed loop system This function uses the load-side encoder to
configure fully closed loop systems.
A5 Refer to "USING A FULLY
CLOSED LOOP SYSTEM" in
the following manual.
MR-J5 User's Manual
(Hardware)
Absolute position Absolute position detection
system
This function performs homing once, and
thereafter does not require homing at every
power-on.
A0 Refer to "ABSOLUTE
POSITION DETECTION
SYSTEM" in the following
manual.
MR-J5 User's Manual
(Hardware)
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Stop function Stroke limit function This function uses LSP (Forward rotation stroke
end) and LSN (Reverse rotation stroke end) to
limit the travel interval of the servo motor.
A0 Refer to "Stroke limit
function" in the following
manual.
MR-J5 User's Manual
(Function)
Command
generation
Command pulse selection The command pulse train form can be selected
from among three different types.
A0 Refer to "Position control
mode (P)" in the following
manual.
MR-J5 User's Manual
(Function)
Rotation/travel direction selection This function sets the rotation direction of the
servo motor without changing the command
polarity.
A0 Refer to "Rotation/travel
direction selection" in the
following manual.
MR-J5 User's Manual
(Function)
Electronic gear This function performs positioning control with
the value obtained by multiplying the position
command from the upper controller by a set
electronic gear ratio.
A0 Refer to "Electronic gear
function" in the following
manual.
MR-J5 User's Manual
(Function)
Acceleration/deceleration function This function sets the time constant of
acceleration and deceleration.
A0 Refer to "Acceleration/
deceleration function" in the
following manual.
MR-J5 User's Manual
(Function)
S-pattern acceleration/
deceleration time constant
This function performs smooth acceleration and
deceleration.
A0 Refer to "S-pattern
acceleration/deceleration
time constant" in the
following manual.
MR-J5 User's Manual
(Function)
Torque limit This function limits the servo motor torque. A0 Refer to "Torque limit" in the
following manual.
MR-J5 User's Manual
(Function)
Speed limit This function limits the servo motor speed in the
torque control mode.
A0 Refer to "Speed limit" in the
following manual.
MR-J5 User's Manual
(Function)

2 FUNCTION
2.1 Function list 17
2
Control function
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Vibration
suppression
Advanced vibration suppression
control II
This function suppresses vibration and residual
vibration at an arm end.
A0 Refer to "Advanced vibration
suppression control II" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Machine resonance suppression
filter
This function decreases the gain of the specific
frequency to suppress the resonance of the
mechanical system.
A0 Refer to "Machine resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Shaft resonance suppression filter When driving the servo motor with a load
mounted to the servo motor shaft, resonance
due to shaft torsion may generate high
frequency mechanical vibration. The shaft
resonance suppression filter suppresses this
vibration.
A0 Refer to "Shaft resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Robust filter This function improves a disturbance response
when a response performance cannot be
increased because of a large load to motor
inertia ratio, such as a roll feed axis.
A0 Refer to "Robust filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Slight vibration suppression
control
This function suppresses vibration of ±1 pulse
generated at each servo motor stop.
A0 Refer to "SLIGHT
VIBRATION SUPPRESSION
CONTROL" in the following
manual.
MR-J5 User's Manual
(Adjustment)
Tracking control Lost motion compensation
function
This function reduces the response delay
generated when the machine moving direction
is reversed.
A0 Refer to "Lost motion
compensation function" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Super trace control This function reduces the droop pulses at the
rated speed and at the uniform acceleration/
deceleration to almost zero.
A5 Refer to "Super trace control"
in the following manual.
MR-J5 User's Manual
(Adjustment)
Path tracking model adaptive
control
This function reduces tracking errors in
reciprocation.
A0 Refer to "Path tracking model
adaptive control" in the
following manual.
MR-J5 User's Manual
(Adjustment)

18 2 FUNCTION
2.1 Function list
Adjustment function
Functions Detailed functions Description Supported
firmware
version
Detailed explanation
Automatic
adjustment
Quick tuning This function automatically adjusts the gain at
servo-on in a short time without acceleration/
deceleration operation of the servo motor.
Response without overshoot is possible, saving
gain adjustment time.
A0 Refer to "Quick tuning" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Auto tuning This function automatically adjusts the gain to
an optimum value even if the load applied to the
servo motor shaft varies.
A0 Refer to "ADJUSTMENT
FUNCTION TYPES" in the
following manual.
MR-J5 User's Manual
(Adjustment)
One-touch tuning Gain adjustment is performed with this function
just by pressing buttons on the servo amplifier
or by clicking a button once on MR
Configurator2.
A0 Refer to "One-touch tuning"
in the following manual.
MR-J5 User's Manual
(Adjustment)
Custom adjustment Model adaptive control This function enables control according to the
ideal model that is both stable and highly
responsive. This is a two-degrees-of-freedom
model and can adjust responses to commands
and disturbances separately. This function can
also be disabled.
A0 Refer to "MODEL ADAPTIVE
CONTROL" in the following
manual.
MR-J5 User's Manual
(Adjustment)
Gain switching function This function switches gains during rotation and
during stop, and uses an input device to switch
gains during operation.
It supports the gain switching by rotation
direction and the 3-step gain switching.
Therefore, more detailed gain switching is
available.
A0 Refer to "GAIN SWITCHING
FUNCTION" in the following
manual.
MR-J5 User's Manual
(Adjustment)
Adjustment support Machine analyzer This function analyzes the frequency
characteristic of the mechanical system by
simply connecting the servo amplifier with an
MR Configurator2 installed personal computer.
A0 Refer to "Adjustment
functions available in
combination with MR
Configurator2" in the
following manual.
MR-J5 User's Manual
(Adjustment)