Mitsubishi Electric MELSERVO J5 Series User manual

MR-J5-G/MR-J5W-G
User's Manual
(Introduction)
-MR-J5-_G_
-MR-J5W_-_G
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-G/MR-J5W-G User's Manual (Introduction) SH(NA)-030294ENG
(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-G/MR-J5W-G User's Manual (Communication Function) SH(NA)-030302ENG
(9) MR-J5 User's Manual (Adjustment) SH(NA)-030306ENG
(10) MR-J5-G/MR-J5W-G User's Manual (Parameters) SH(NA)-030308ENG
(11) MR-J5-G/MR-J5W-G User's Manual (Object Dictionary) SH(NA)-030304ENG
(12) MR-J5 User's Manual (Troubleshooting) SH(NA)-030312ENG
(3) Rotary Servo Motor
(4) Linear Servo Motor
(5) Direct Drive Motor
(6) Partner Encoder
(7) Function
(9) Adjustment
(11) Object Dictionary
(12) Troubleshooting
This manual is necessary primarily for installing, wiring,
and using options.
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.
(1) Introduction
(2) Hardware
(8) Communication FunctionThe manual is necessary for using communication functions.
(10) Parameters
The manual is necessary for specifying the causes of alarms
and warnings.

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.4 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-J5W2-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
MR-J5W3-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
MR-J5W_-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.7 Special specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Servo amplifiers without the dynamic brake (-ED/-RU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CHAPTER 2 FUNCTION 24
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CHAPTER 3 STRUCTURE 36
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
CN1A/CN1B connector LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
CHAPTER 4 STARTUP 46
4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

6
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 62
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 64
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of
Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .70
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72

1 SPECIFICATIONS
1.1 Outline 7
1
1SPECIFICATIONS
1.1 Outline
MR-J5_-_G_ operates in the Ethernet open network (communication speed of up to 1 Gbps).
One MR-J5W_-_G servo amplifier can drive two or three servo motors. The footprint of one MR-J5W_-_G servo amplifier is
considerably smaller than that of two or three MR-J5-_G_ servo amplifiers.
1.2 Model designation
Rating plate
The following shows an example of the rating plate for explanation of each item.
CC-Link IE TSN authentication class
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
1.2 Model designation
Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
■MR-J5-_G_
*1 : The corresponding item is included or supported.
: The corresponding item is not included or not supported.
Item Special specifications *1 Detailed explanation
Not
attached
(standard
model)
-RJ -ED -RU
CN2L connector Page 37 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

Touch probe Page 30 I/O, monitor
Functional safety STO Page 15 Functional safety
SS1 
SS2 
SOS 
SBC 
SLS 
SSM 
SDI 
SLI 
SLT 
Built-in dynamic brake 7 kW or less Page 23 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 G -J5
-RJ
-ED
-RU
JR
4
4
Special specification
Series
Symbol
Symbol
Power supply
Special specification
Power supply
Rated output None
None
Standard
Rated output [kW]
Symbol Load-side encoder A/B/Z-phase input compatible
3-phase or 1-phase 200 V AC to 240 V AC
3-phase 380 V AC to 480 V AC
CC-Link IE TSN interface
Standard model without the dynamic brake
MR-J5-_G-RJ without the dynamic brake

1 SPECIFICATIONS
1.3 Servo amplifier/motor combinations 9
1
■MR-J5W_-_G
*1 : The corresponding item is included or supported.
: The corresponding item is not included or not supported.
*2 Not available on the MR-J5W3-_G.
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)
-ED
CN2L connector Page 39 External encoder
connector
Linear servo system Two-wire type 
Four-wire type 
A/B/Z-phase differential output method 
Fully closed loop system *2
Scale measurement function *2
Two-wire type 
Four-wire type 
A/B/Z-phase differential output method 
Touch probe Page 30 I/O, monitor
Functional safety STO Page 15 Functional safety
SS1 
SS2 
SOS 
SBC 
SLS 
SSM 
SDI 
SLI 
SLT 
Built-in dynamic brake Page 23 Servo amplifiers without
the dynamic brake (-ED/-RU)
22 0.2
44 0.4
77 0.75
1010 1
222 0.2
444 0.4
0.2
0.4
0.75
1
0.2
0.4
-
-
-
-
0.2
0.4
MR - - -44G EDJ5W2
W2 2
W3 3
-ED
Series
Number of axes
CC-Link IE TSN interface
Number
of axes
Rated output
Symbol
Rated output [kW]
Symbol A-axis B-axis C-axis
Special specification
Symbol Special specification
Standard
None
Without the dynamic brake

10 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
1.4 Servo amplifier standard specifications
MR-J5-_G_
200 V class
Model: MR-J5- 10G 20G 40G 60G 70G 100G 200G 350G 500G 700G
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] 0.3 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle *5 *7 31.25 μs, 62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Authentication class Class B
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
Fully closed loop control Supported
Scale measurement function Supported
Load-side encoder
interface
MR-J5-_G Mitsubishi Electric high-speed serial communication
MR-J5-_G-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

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 11
1
*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 The command communication cycle depends on the controller specifications and the number of the connected axes.
*6 This does not apply to connectors.
*7 The communication cycles of 31.25 μs and 62.5 μs can be used by servo amplifiers with firmware version A6 or later.
400 V class
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
Model: MR-J5- 60G4 100G4 200G4 350G4
Output Voltage 3-phase 0 V AC to 480 V AC
Rated current [A] 1.6 2.8 5.5 8.6
Main circuit power
supply input
Voltage/
Frequency
At AC input 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 1.4 2.5 5.1 7.9
Permissible
voltage
fluctuation
At AC input 3-phase 323 V AC to 528 V AC
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 380 V AC to 480 V AC, 50 Hz/60 Hz
Rated current [A] 0.1
Permissible
voltage
fluctuation
At AC input 1-phase 323 V AC to 528 V AC
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] 0.3 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle *2 31.25 μs, 62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Authentication class Class B
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
Fully closed loop control Supported
Scale measurement function Supported
Load-side encoder
interface
MR-J5-_G4 Mitsubishi Electric high-speed serial communication
MR-J5-_G4-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal
Model: MR-J5- 10G 20G 40G 60G 70G 100G 200G 350G 500G 700G

12 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 The command communication cycle depends on the controller specifications and the number of the connected axes.
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, and excessive 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)
Close mounting Impossible
Mass [kg] 1.6 2.2 2.3
Model: MR-J5- 60G4 100G4 200G4 350G4

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 13
1
MR-J5W2-_G
*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 The command communication cycle depends on the controller specifications and the number of the connected axes.
*5 The communication cycle of 62.5 μs can be used by servo amplifiers with firmware version A6 or later.
Model: MR-J5W2- 22G 44G 77G 1010G
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current (each axis) [A] 1.8 2.8 5.8 6.0
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 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 2.9 5.2 7.5 9.8
Permissible
voltage
fluctuation
At AC input 3-phase or 1-phase 170 V AC to 264 V AC 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] 0.4
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] 55
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] 0.35 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle *4 *5 62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Authentication class Class B
Communication
function
USB Connection to a personal computer or other devices (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B-phase pulse)
Analog monitor Two channels
Fully closed loop control Supported
Scale measurement function Supported
Load-side encoder interface Mitsubishi Electric high-speed serial communication
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)
Close mounting *2 Possible
Mass [kg] 1.5 1.9

14 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
MR-J5W3-_G
*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 The command communication cycle depends on the controller specifications and the number of the connected axes.
*5 If [Pr. PT01.1 Speed/acceleration/deceleration unit selection] is set to "1" (command unit/s) or if TPR1 (touch probe 1) to TPR3 (touch
probe 3) are assigned to devices, A/B-phase pulses will not be outputted.
Model: MR-J5W3- 222G 444G
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current (each axis) [A] 1.8 2.8
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
At DC input 283 V DC to 340 V DC
Rated current [A] *3 4.3 7.8
Permissible
voltage
fluctuation
At AC input 3-phase or 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 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] 0.4
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] 55
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] 0.45 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle *4 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Authentication class Class B
Communication
function
USB Connection to a personal computer or other devices (MR Configurator2-compatible)
Encoder output pulses Available only on axes A and B (A/B-phase pulse) *5
Analog monitor Two channels
Fully closed loop control Not supported
Scale measurement function Not supported
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) Force cooling, open (IP20)
Close mounting *2 Possible
Mass [kg] 1.8

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 15
1
Functional safety
• If using the MR-J5W_-_G, the functional safety is available on servo amplifiers manufactured after
November 2019.
Servo amplifier specifications
*1 When DI/O connection (CN8) is used, diagnosis by test pulses is required in order to satisfy Category 4 PL e, SIL 3.
*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.
Item Specifications
MR-J5-_G(4) MR-J5-_G(4)-RJ/MR-J5W_-_G
Safety
performance
Satisfied standards *1 EN ISO 13849-1:2015 Category 3 PL e, IEC
61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2
EN ISO 13849-1:2015 Category 4 PL e, IEC
61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2
Mean time to dangerous failure
(MTTFd)
MTTFd ≥100 [years] (314a) MTTFd ≥100 [years] (750a)
Diagnostic coverage (DC) DC = Medium, 97.6 [%] DC = Medium, 96.5 [%]
Probability of dangerous Failure per
Hour (PFH)
PFH = 6.4 × 10-9 [1/h] PFH = 3 × 10-9 [1/h]
Mission time (TM) *2 TM= 20 [year]

16 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
Function specifications
*1 Available functions and safety levels differ depending on the combination of the servo amplifiers and the servo motors and the firmware
version of the servo amplifier.
Page 17 List of safety sub-function compatible units
*2 When DI/O connection (CN8) is used, diagnosis by test pulses is required in order to satisfy Category 4 PL e, SIL 3.
*3 This value applies when the transmission interval monitor time is 32.0 ms or less.
*4 Connect to a network with a communication cycle of 125 μs or longer.
*5 The safety observation speed can be set separately.
*6 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.
*7 Available only on the MR-J5-_G_-RJ.
*8 This value applies when the transmission interval monitor time is 64.0 ms or less.
Item Specifications
Safety
sub-function *1
*2
STO Shut-off response
time (STO input off
→energy shut off)
MR-J5-_G(4) 8 ms or less (when an input device is used)
MR-J5-_G(4)-RJ
MR-J5W_-_G
8 ms or less (when an input device is used)
60 ms or less (with CC-Link IE TSN) *3 *4 *7
SS1 Deceleration delay time 0 ms to 60000 ms (set by functional safety parameters)
SS2 Deceleration delay time 0 ms to 60000 ms (set by functional safety parameters)
SOS Observation position 0 rev to 1000 rev (set by functional safety parameters)
SBC Shut-off response time 8 ms or less (when an input device is used)
60 ms or less (with CC-Link IE TSN) *3 *4 *7
SLS1/2/3/4 Observation speed 0 r/min (mm/s) to 10000 r/min (mm/s) (set by functional safety parameters) *5
SSM Observation speed 0 r/min (mm/s) to 10000 r/min (mm/s) (set by functional safety parameters)
SDI Direction monitor delay time 0 ms to 60000 ms (set by functional safety parameters)
SLI Observation position 0 rev to 1000 rev (set by functional safety parameters)
SLT Observation torque -1000.0 % to 1000.0 % (set by functional safety parameters)
I/O function Input device Number of inputs 1 point × 2 systems
Permissible time for mismatched double
inputs
0 ms to 60000 ms (set by functional safety parameters)
Noise elimination filter 1.000 ms to 32.000 ms (set by functional safety parameters)
Test pulse off time *6 1 Hz to 25 Hz
Output
device
Number of outputs 1 point × 2 systems
Test pulse off time *6 0.500 ms to 2.000 ms (set by functional safety parameters)
Test pulse interval *6 Within 1 s
Safety communication function Response time 250 ms *8
Transmission interval monitor time 16.0 ms to 1000.0 ms (set by functional safety parameters) (with CC-Link IE
TSN) *4 *7
Safety communication delay time 60 ms or less (with CC-Link IE TSN) *3 *4 *7

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 17
1
List of safety sub-function compatible units
*1 Combine the servo amplifier with a safety programmable controller R_SFCPU that has firmware version 20 or later.
*2 The safety levels in the table apply if the safety sub-function control is performed by a safety programmable controller or a safety
controller that complies with Category 4 PL e, SIL 3. If the servo amplifiers are directly connected with emergency stop switches, safety
switches, enabling switches, or other similar devices, the safety level Category 3 PL d, SIL 2 applies.
*3 Fully closed loop control systems do not support SS1-r, SS2, SOS, SLS, SSM, SDI, and SLI.
*4 STO can be set separately for each axis.
*5 Connect to a network with a communication cycle of 125 μs or longer.
*6 When DI/O connection (CN8) is used, diagnosis by test pulses is required in order to satisfy Category 4 PL e, SIL 3.
*7 SS1-t is available when the MR-D05 and a servo amplifier are combined.
Servo
amplifier
Function
achieving
method
(wiring
destination)
Servo motor type Safety sub-function (IEC/EN 61800-5-2)
STO SS1 SS2 *3 SOS
*3
SBC SLS
*3
SSM
*3
SDI
*3
SLI
*3
SLT
SS1-t SS1-r
*3
SS2-t,
SS2-r
MR-J5-
_G(4)
DI/O
connection
(CN8)
Servo motor with
functional safety
Rotary servo motor
Linear servo motor
Direct drive motor
Cat.
3PL e,
SIL 3
*7   
MR-J5-
_G(4)-RJ
DI/O
connection *2
*6 (CN8)
Servo motor with
functional safety
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
3PL d,
SIL 2
Rotary servo motor
Linear servo motor
Direct drive motor
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
3PL d,
SIL 2
Cat.
4PL e,
SIL 3
Cat.
3PL d,
SIL 2
Cat.
3PL d,
SIL 2
Cat.
3PL d,
SIL 2
Cat.
3PL d,
SIL 2
Network
connection *1
*5 (CN1A/
CN1B)
Servo motor with
functional safety
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
3PL d,
SIL 2
Rotary servo motor
Linear servo motor
Direct drive motor
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
3PL d,
SIL 2
Cat.
4PL e,
SIL 3
Cat.
3PL d,
SIL 2
Cat.
3PL d,
SIL 2
Cat.
3PL d,
SIL 2
Cat.
3PL d,
SIL 2
MR-J5W_-
_G *4
DI/O
connection *2
*6 (CN8)
Servo motor with
functional safety
Rotary servo motor
Linear servo motor
Direct drive motor
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3
Cat.
4PL e,
SIL 3


18 1 SPECIFICATIONS
1.4 Servo amplifier standard specifications
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
200 V
class
Between main circuit (power supply/power terminal) and PE: 1500 V AC, 1 minute, 50 Hz/60 Hz
400 V
class
Between main circuit (power supply/power terminal) and PE: 2000 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)