Mitsubishi Electric MELSERVO-J5 MR-J5-G Series User manual

MR-J5-G-N1/MR-J5W-G-N1
User's Manual
(Introduction)
-MR-J5-_G-_N1
-MR-J5W_-_G-N1
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 (the terminal marked with the
symbol) of the servo amplifier to the protective earth (PE) of the cabinet.
●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
Use this servo safely with preparation of the following related manuals as necessary if you use the servo for the first time.
*1 For details of parameters, read chapter 7 and chapter 8 of this manual first.
Page 62 Servo parameter
Page 98 NETWORK PARAMETERS
No. Manual name Manual No.
(1) MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction) SH(NA)-030366ENG
(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 SH(NA)-030316ENG
(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-N1 User's Manual (Communication Function) SH(NA)-030371ENG
(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-N1 User's Manual (Object Dictionary) SH(NA)-030376ENG
(12) MR-J5 User's Manual (Troubleshooting) SH(NA)-030312ENG
(3) Rotary Servo Motor User's Manual
(4) Linear Servo Motor User's Manual
(5) Direct Drive Motor User's Manual
(6) MR-J5 Partner Encoder
User's Manual
(7) MR-J5 User's Manual
(Function)
(9) MR-J5 User's Manual
(Adjustment)
(11) MR-J5-G-N1 User's Manual
(Object Dictionary)
(12) MR-J5 User's Manual
(Troubleshooting)
The 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) MR-J5-G-N1/MR-J5W-G-N1
User's Manual (Introduction)
(this manual)
(2) MR-J5 User's Manual
(Hardware)
(8)MR-J5-G-N1 User's Manual
(Communication Function)
The manual is necessary for using communication functions.
(10) MR-J5-G/MR-J5W-G
User's Manual
(Parameters) *1
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" for 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 8
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-J5-_G-_N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-J5W2-_G-N1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
MR-J5W3-_G-N1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.4 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
MR-J5-_G-_N1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
MR-J5W_-_G-N1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
CHAPTER 2 FUNCTION 18
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
CHAPTER 3 STRUCTURE 27
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
CN1A/CN1B connector LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
LED behavior. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
CHAPTER 4 STARTUP 38
4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

6
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 54
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 57
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of
Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
6.4 Status of general-purpose AC servo products for compliance with the China RoHS directive . . . . . . . . 60
CHAPTER 7 Servo parameter 62
7.1 Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
[Pr. PA01_Operation mode (**STY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
7.2 Gain/filter setting servo parameters group ([Pr. PB_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
[Pr. PB82_Position command smoothing filtering time constant (PFT)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .63
7.3 Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
[Pr. PC42_Function selection C-10 (COP10)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
[Pr. PC43_Forward rotation torque limit 2 (TLP2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
[Pr. PC44_Reverse rotation torque limit 2 (TLN2)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
[Pr. PC69_Following error output filtering time (FEWF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
[Pr. PC71_In-position 2 - Output filtering time (INP2F)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
[Pr. PC73_Speed reached 2 - Output filtering time (SA2F)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[Pr. PC78_Function selection C-F (*COPF)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
[Pr. PC81_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
7.4 Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
[Pr. PE53_Maximum torque limit 1 (TLMX1)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
7.5 Positioning control setting servo parameters group ([Pr. PT_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
[Pr. PT01_Command mode selection (**CTY)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
[Pr. PT53_Torque slope (TQS)] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
7.6 Network setting servo parameters group ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Pr. PN02_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Pr. PN05_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Pr. PN18_Counter level for communication error detection (CERN)]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
[Pr. PN20_For manufacturer setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
7.7 Lists of supported control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Positioning control setting servo parameters group ([Pr. PT_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Network setting servo parameters group ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

7
CONTENTS
Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
7.8 Lists of servo parameter initial value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Basic setting servo parameters group ([Pr. PA_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Gain/filter setting servo parameters group ([Pr. PB_ _ ]). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Extension setting servo parameters group ([Pr. PC_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
I/O setting servo parameters group ([Pr. PD_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Extension setting 2 servo parameters group ([Pr. PE_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Extension setting 3 servo parameters group ([Pr. PF_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Motor extension setting servo parameters group ([Pr. PL_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Positioning control setting servo parameters group ([Pr. PT_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Network setting servo parameters group ([Pr. PN_ _]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Positioning extension setting servo parameters group ([Pr. PV_ _ ]) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
CHAPTER 8 NETWORK PARAMETERS 98
8.1 Network basic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[Pr. NPA01_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[Pr. NPA02_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[Pr. NPA04_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[Pr. NPA08_For manufacturer setting]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
[Pr. NPA09_Node address setting] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

81 SPECIFICATIONS
1.1 Outline
1SPECIFICATIONS
1.1 Outline
MR-J5_-_G-_N1 are EtherCAT servo amplifiers. EtherCAT is an abbreviation of Ethernet for Control Automation Technology.
It is open network communication between a master station and slave stations via real-time Ethernet developed by Beckhoff
Automation GmbH.
One MR-J5W_-_G-N1 servo amplifier can drive two or three servo motors. Thus, the footprint can be reduced dramatically
when compared to install two or three MR-J5-_G-_N1 servo amplifiers.
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

1 SPECIFICATIONS
1.2 Model designation 9
1
Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
■MR-J5-_G-_N1
■MR-J5W_-_G-N1
10 0.1
20 0.2
40 0.4
60 0.6
70 0.75
100 1
200 2
350 3.5
RJ
MR - - 6 0 G N-JRJ5 1
Special specification
Series
Symbol
None
Special specification
Rated output Standard
Rated output [kW]
Symbol Load-side encoder A/B/Z-phase input compatible
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 - - 4 4 GJ5W2
W2 2
W3 3
-N1
Series
Number of axes
Number
of axes
Rated output
Symbol
Rated output [kW]
Symbol A-axis B-axis C-axis

10 1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
1.3 Servo amplifier standard specifications
MR-J5-_G-_N1
Model: MR-J5-_-(RJ)N1 10G 20G 40G 60G 70G 100G 200G 350G
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
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
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
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
EtherCAT Communication cycle 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
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 mode Supported
Scale measurement function Supported
Load-side encoder
interface
MR-J5-_G-N1 Mitsubishi Electric high-speed serial communication
MR-J5-_G-RJN1 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)
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

1 SPECIFICATIONS
1.3 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.

12 1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
MR-J5W2-_G-N1
*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.
Model: MR-J5W2-_-N1 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
EtherCAT Communication cycle 250 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
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 mode 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

1 SPECIFICATIONS
1.3 Servo amplifier standard specifications 13
1
MR-J5W3-_G-N1
*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.
Model: MR-J5W3-_-N1 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
EtherCAT Communication cycle 250 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms, 8 ms
Communication
function
USB Connection to a personal computer or other devices (MR Configurator2-compatible)
Encoder output pulses Not supported
Analog monitor Two channels
Fully closed loop control mode 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

14 1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
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 The performance of special proof tests within the mission time of the product is regarded as not necessary. For example, on IEC 61800-
5-2:2016, the diagnostic interval is suggested as at least one test per three months for SIL3, Category 3 PL e.
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 Specifications
MR-J5-_G-_N1 MR-J5-_G-_RJN1/MR-J5W_-_G-N1
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 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
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 [%] DC = Medium, 97.5 [%]
Probability of dangerous
Failure per Hour (PFH)
PFH = 6.4 × 10-9 [1/h] PFH = 1.3 × 10-9 [1/h]
Mission time (TM) *2 TM= 20 [year]
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 2K3 (IEC 60721-3-2)
-25 ˚C to 70 ˚C (non-freezing)
Class 1K3 (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)

1 SPECIFICATIONS
1.4 Function block diagram 15
1
1.4 Function block diagram
The following shows the function block diagram of this servo amplifier.
MR-J5-_G-_N1
*1 The built-in regenerative resistor is not used for MR-J5-10G-_N1.
*2 Servo amplifiers with the rated output symbol of 70 (MR-J5-70G-_N1) or greater have a cooling fan.
*3 This is for the MR-J5-_G-RJN1 servo amplifier. The MR-J5-_G-N1 servo amplifier does not have the 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
*1
CN2L
*3
CN5
USB
USB
CN1A CN1B
D/A
CN3CN6
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
I/F control
External encoder
Personal
computer Analog monitor
(2 channels)
Digital I/O
control
Controller or
servo
amplifier
Servo amplifier
24 V DC

16 1 SPECIFICATIONS
1.4 Function block diagram
MR-J5W_-_G-N1
The following is an example using MR-J5W3-_G-N1.
*1 MR-J5W2-22G-N1 does not have a cooling fan.
*2 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.
U
V
W
U
V
W
U
V
WM
E
M
E
M
E
CNP1
TRM (A)
CNP2
P+ C D
MCCB MC
CNP2
CNP3A
CN2ACNP3B
CN2B
CNP3CCN2CCN4
CN3CN6 CN5
USB
MR-BT6VCASE
L1
L2
L3
L11
L21
CN8CN1ACN1B
+
+
U
U U
*1
CNP1
P4N-
*2
Regenerative option
Diode
stack Built-in
regenerative
resistor
A-axis
servo motor
Relay
Regenerative
TR A-axis
output
Current
detector
Power
supply
Charge
light
Dynamic
brake circuit A
A-axis
F/B
Cooling fan
STO circuit
Control
circuit
power
supply
B-axis
servo motor
Base
amplifier
Current
detection A
Overvoltage Overcurrent
A
B-axis
output
Control engine
STO switch
B-axis
F/B
Controlling B-axis
Controller or
servo amplifier
C-axis
servo motor
Controlling C-axis
C-axis
output
I/F
control
Servo amplifier
C-axis
F/B
Step-
down
circuit
Battery case
+ battery
Analog
output
Digital I/O
control
Personal
computer

1 SPECIFICATIONS
1.5 Configuration including peripheral equipment 17
1
1.5 Configuration including peripheral equipment
• To prevent a malfunction, do not connect these connectors to any network other than the specified network.
• Equipment other than the servo amplifier and servo motor is optional or a recommended product.
The following is an example using MR-J5-20G-RJN1.
*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-_G-RJN1 servo amplifier. The MR-J5-_G-N1 servo amplifier does not have the CN2L connector. If using the MR-
J5-_G-RJN1 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 27 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
(FR-BSF01)
(FR-HEL)
(MCCB)
CN1B
CN1A
Power supply
Controller or
servo amplifier
Molded-case
circuit breaker
Servo amplifier
Personal
computer
Magnetic
contactor
Line noise filter Analog monitor
Safety relay
Junction terminal block
Power factor
improving
DC reactor
Servo motor
Regenerative
option

18 2 FUNCTION
2.1 Function list
2FUNCTION
Function restrictions
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
*1 This control mode is not available for multi-axis servo amplifiers.
Drive motor
Category Function Network communication cycle restrictions (minimum)
MR-J5-_G-N1 MR-J5-_G-RJN1 MR-J5W2-_G-N1 MR-J5W3-_G-N1
Control mode Profile position mode (pp) 250 μs 250 μs 500 μs500μs
Profile velocity mode (pv) 250 μs 250 μs
Profile torque mode (tq) 250 μs 250 μs
Subcategory Function Description Detailed explanation
CiA 402 control mode Cyclic synchronous position mode
(csp)
This function operates the servo motor in the cyclic
synchronous position mode.
Refer to "Control mode" in the
following manual.
MR-J5 User's Manual
(Function)
Cyclic synchronous velocity mode
(csv)
This function operates the servo motor in the cyclic
synchronous velocity mode.
Cyclic synchronous torque mode
(cst)
This function operates the servo motor in the cyclic
synchronous torque mode.
Profile position mode (pp) This function operates the servo motor in the profile
position mode.
Profile velocity mode (pv) *1 This function operates the servo motor in the profile
velocity mode.
Profile torque mode (tq) *1 This function operates the servo motor in the profile
torque mode.
Homing mode (hm)/homing This function either operates the servo motor in the
homing mode or performs homing.
Test operation Test operation mode This function requires MR Configurator2 for Jog
operation, positioning operation, motor-less operation,
DO forced output and program operation.
Page 47 Test operation
Subcategory Function Description Detailed explanation
Universal drive Linear servo motor Using the linear servo motor and linear encoder enables
the linear servo system to be configured.
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.
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.

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.
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)