MR-J5-G/MR-J5W-G
Mitsubishi Electric AC Servo System
User's Manual
(Introduction)
-MR-J5-_G_
-MR-J5W_-_G
SAFETY INSTRUCTIONS
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 what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
(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.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
In this manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into
"POINT".
After reading this guide, keep it accessible to the operator.
1
[Installation/wiring]
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.
[Setting/adjustment]
WARNING
● To prevent an electric shock, do not operate the switches with wet hands.
[Operation]
WARNING
● To prevent an electric shock, do not operate the switches with wet hands.
[Maintenance]
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.
DISPOSAL OF WASTE
Please dispose this product, battery (primary battery) and other options according to your local laws and regulations.
2
ABOUT THE MANUAL
(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 User's Manual
(Object Dictionary)
(12) MR-J5 User's Manual
(Troubleshooting)
The manual is necessary when installing the products,
wiring, using options, and the like.
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/MR-J5W-G
User's Manual
(Introduction) (this manual)
(2) MR-J5 User's Manual
(Hardware)
(8) MR-J5 User's Manual
(Communication Function)
The manual is necessary for using communication functions.
(10) MR-J5-G/MR-J5W-G
User's Manual
(Parameters)
The manual is necessary for specifying the causes of alarms
and warnings.
Use this servo safely with preparation of the following related manuals as necessary if you use the servo for the first time.
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 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 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 User's Manual (Object Dictionary) SH(NA)030304ENG
(12) MR-J5 User's Manual (Troubleshooting) SH(NA)030312ENG
U.S. CUSTOMARY UNITS
U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.
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
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]
-4
kg•m2)] 5.4675 [oz•inch2]
3
CONTENTS
SAFETY INSTRUCTIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
DISPOSAL OF WASTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
ABOUT THE MANUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
U.S. CUSTOMARY UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
CHAPTER 1 SPECIFICATIONS 6
1.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MR-J5W2-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
MR-J5W3-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.4 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
MR-J5-_G_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
MR-J5W_-_G. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.5 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
CHAPTER 2 FUNCTION 16
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
CHAPTER 3 STRUCTURE 24
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7-segment LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
CN1A/CN1B connector LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Display LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
CHAPTER 4 STARTUP 34
4.1 Switching power on for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 50
5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.2 Parts having life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARD 53
6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of
Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
6.4 Status of general-purpose AC servo products for compliance with the China RoHS directive . . . . . . . . 56
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60
CONTENTS
5
1 SPECIFICATIONS
Precautions
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
• MR-J5-_G_-RJ will be available in the future.
• The use of MR Configurator2 via network will be available in the future.
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.
Restrictions on using servo amplifiers
Item MR-J5-_G_ MR-J5W2-_G MR-J5W3-_G
Maximum PDO size Default size
Adaptive filter Available for one axis.
A/B-phase pulse output Not outputted if the communication
cycle is 62.5 μs.
1.2 Model designation
Not outputted if the communication
cycle is 125 μs.
Rating plate
The following shows an example of the rating plate for explanation of each item.
6
1 SPECIFICATIONS
1.1 Outline
Model
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 J-RJ5
Special specification
Series
Symbol Special specification
Rated output
None Standard
Rated output [kW]
Symbol
Load-side encoder A/B/Z-phase input compatible
CC-Link IE TSN interface
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
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
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.
■MR-J5-_G_
■MR-J5W_-_G
1
1 SPECIFICATIONS
1.2 Model designation
7
1.3 Servo amplifier standard specifications
MR-J5-_G_
Model: MR-J5- 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
Control circuit power
supply input
Interface power supply Voltage 24 V DC ±10 %
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle
Communication function USB Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
Compliance with global
standards
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20)
Close mounting
Mass [kg] 0.8 1.0 1.4 2.2
*2
Voltage/
Frequency
Rated current [A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity [kVA] Refer to "Power supply capacity and generated loss" in the following manual.
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Voltage/
Frequency
Rated current [A] 0.2
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power consumption [W] 30
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Current capacity [A] 0.3 (including CN8 connector signals)
Authentication class Class B
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
3-phase power supply input Possible
1-phase power supply input Possible Impossible
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
At DC input 283 V DC to 340 V DC
*3
At AC input 3-phase or 1-phase 170 V AC to 264 V AC 3-phase or 1-phase
At DC input 241 V DC to 374 V DC
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
At AC input 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
*5
0.9 1.5 2.6 3.2 3.8 5.0 10.5 16.0
170 V AC to 264 V AC
*4
Within ±5 %
MR-J5 User's Manual (Hardware)
following manual.
MR-J5 User's Manual (Hardware)
Within ±5 %
following manual.
MR-J5 User's Manual (Hardware)
*1
31.25 μs, 62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control error protection
*4
3-phase
200 V AC
to 240 V
AC, 50
Hz/60 Hz
3-phase
170 V AC
to 264 V
AC
8
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
*1 This value is applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
*2 When 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.
1
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
9
MR-J5W2-_G
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
Control circuit power
supply input
Interface power supply Voltage 24 V DC ±10 %
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle
Communication function USB Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Compatible (A/B-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
Compliance with global
standards
Structure (IP rating) Natural cooling, open
Close mounting
Mass [kg] 1.5 1.9
*2
*1 This value is applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
*2 When 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.
Voltage/
Frequency
Rated current [A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity [kVA] Refer to "Power supply capacity and generated loss" in the following manual.
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Voltage/
Frequency
Rated current [A] 0.4
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power consumption [W] 55
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Current capacity [A] 0.35 (including CN8 connector signals)
Authentication class Class B
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
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
*3
At AC input 3-phase or 1-phase 170 V AC to 264 V AC 3-phase 170 V AC to
At DC input 241 V DC to 374 V DC
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
At AC input 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
*4
2.9 5.2 7.5 9.8
264 V AC
Within ±5 %
MR-J5 User's Manual (Hardware)
following manual.
MR-J5 User's Manual (Hardware)
Within ±5 %
following manual.
MR-J5 User's Manual (Hardware)
*1
62.5 μs, 125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control error protection
Force cooling, open (IP20)
(IP20)
Possible
10
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
MR-J5W3-_G
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
Control circuit power
supply input
Interface power supply Voltage 24 V DC ±10 %
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
CC-Link IE TSN Communication cycle
Communication function USB Connection to a personal computer or others (MR Configurator2-compatible)
Encoder output pulses Available only on axes A and B (A/B-phase pulse)
Analog monitor Two channels
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo
Compliance with global
standards
Structure (IP rating) Force cooling, open (IP20)
Close mounting
Mass [kg] 1.8
*2
Voltage/
Frequency
Rated current [A]
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power supply capacity [kVA] Refer to "Power supply capacity and generated loss" in the following manual.
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Voltage/
Frequency
Rated current [A] 0.4
Permissible
voltage
fluctuation
Permissible frequency
fluctuation
Power consumption [W] 55
Inrush current [A] Refer to "Inrush currents at power-on of the main circuit and control circuit power supplies" in the
Current capacity [A] 0.45 (including CN8 connector signals)
Authentication class Class B
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
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
*3
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
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
At AC input 1-phase 170 V AC to 264 V AC
At DC input 241 V DC to 374 V DC
*4
4.3 7.8
Within ±5 %
MR-J5 User's Manual (Hardware)
following manual.
MR-J5 User's Manual (Hardware)
Within ±5 %
following manual.
MR-J5 User's Manual (Hardware)
*1
125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms
motor overheat protection, encoder error protection, regenerative error protection, undervoltage
protection, instantaneous power failure protection, overspeed protection, error excessive protection,
magnetic pole detection protection, and linear servo control error protection
Possible
*1 This value is applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
*2 When 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.
1
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
11
Functional safety
• The functional safety is not available for MR-J5W_-_G servo amplifiers.
Item Specifications
Functional safety STO (IEC/EN 61800-5-2)
Safety performance Standards certified by CB 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)
Mean time to dangerous
failure (MTTFd)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous
Failure per Hour (PFH)
*1
*1 A test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to self-
diagnose.
Test pulse interval: 1 Hz to 25 Hz, test pulse off time: Up to 1 ms
MTTFd ≥ 100 [years] (314a)
-9
PFH = 6.4 × 10
[1/h]
Environment
Item Operation Transportation Storage
Ambient
temperature
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
Vibration resistance When there is continuous vibration:
*1 Refer to "Restrictions on using this product at an altitude exceeding 1000 m and up to 2000 m above sea level" in the following manual
for using the product at an altitude exceeding 1000 m above sea level.
MR-J5 User's Manual (Hardware)
0 ˚C to 60 ˚C (non-freezing)
Class 3K3 (IEC 60721-3-3)
Altitude: 2000 m or less
10 Hz to 57 Hz, displacement amplitude
0.075 mm
57 Hz to 150 Hz, acceleration amplitude
2
9.8 m/s
Class 3M1 (IEC 60721-3-3)
When there is continuous vibration:
10 Hz to 55 Hz, acceleration amplitude 5.9
2
m/s
*1
-25 ˚C to 70 ˚C (non-freezing)
Class 2K3 (IEC 60721-3-2)
Transportation conditions: Must be
transported by ground/sea, or air at an
atmospheric pressure of 700 hPa or more.
2 Hz to 8 Hz, displacement amplitude (half
amplitude) 7.5 mm
8 Hz to 200 Hz, acceleration amplitude 20
2
m/s
Class 2M3 (IEC 60721-3-2)
-25 ˚C to 70 ˚C (non-freezing)
Class 1K3 (IEC 60721-3-1)
Atmospheric pressure: 700 hPa to 1060
hPa
(equivalent to the altitude of -400 m to 3000
m.)
2 Hz to 9 Hz, displacement amplitude (half
amplitude) 1.5 mm
9 Hz to 200 Hz, acceleration amplitude 5
2
m/s
Class 1M2 (IEC 60721-3-1)
12
1 SPECIFICATIONS
1.3 Servo amplifier standard specifications
1.4 Function block diagram
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
Stepdown
circuit
Control engine
Battery
*4
I/F control
External encoder
Personal
computer
Analog monitor
(2 channels)
Digital I/O
control
Controller or
servo
amplifier
Controller or
servo
amplifier
24 V DC
The following shows the function block diagram of this servo amplifier.
MR-J5-_G_
1
*1 The built-in regenerative resistor is not provided for MR-J5-10G.
*2 Servo amplifiers with the rated output symbol of 70 (MR-J5-70G) or greater have a cooling fan.
*3 This is for the MR-J5-_G-RJ servo amplifier. MR-J5-_G servo amplifier does not have CN2L connector.
*4 To configure the absolute position detection system by using a direct drive motor, the battery is required. When the absolute position
detection system is to be configured by using the HK series servo motor, the battery is not required.
1 SPECIFICATIONS
1.4 Function block diagram
13
MR-J5W_-_G
U
V
W
U
V
W
U
V
W
M
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
Controller or
servo amplifier
C-axis
F/B
Stepdown
circuit
Battery case
+ battery
Analog
output
Digital I/O
control
Personal
computer
The following is an example using MR-J5W3-_G.
*1 The MR-J5W2-22G has no cooling fan.
*2 To configure the absolute position detection system by using a direct drive motor, the battery is required. When the absolute position
detection system is to be configured by using the HK series servo motor, the battery is not required.
14
1 SPECIFICATIONS
1.4 Function block diagram
1.5 Configuration including peripheral equipment
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
Controller or
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
• Do not connect these connectors to other than specified network. Otherwise, a malfunction may occur.
• Equipment other than the servo amplifier and servo motor is optional or recommended products.
The following is an example using MR-J5-20G-RJ.
1
*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-RJ servo amplifier. MR-J5-_G servo amplifier does not have CN2L connector. If using MR-J5-_G-RJ servo
amplifier in the linear servo system, connect an external encoder to this connector. Refer to the following for the compatible external
encoders.
Page 24 Parts identification
1 SPECIFICATIONS
1.5 Configuration including peripheral equipment
15
2 FUNCTION
2.1 Function list
The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed
explanation field.
Control mode
Subcategory Function Description Detailed explanation
CiA 402 control mode Cyclic synchronous position mode
(csp)
Cyclic synchronous velocity mode
(csv)
Cyclic synchronous torque mode
(cst)
Homing mode (hm)/homing Operation is performed in the homing mode. Or it
Test operation Test operation mode For Jog operation, positioning operation, motor-less
Drive motor
Operation is performed in the cyclic synchronous position
mode.
Operation is performed in the cyclic synchronous velocity
mode.
Operation is performed in the cyclic synchronous torque
mode.
performs a homing.
operation, DO forced output and program operation, MR
Configurator2 is necessary.
Refer to "Control mode" in the
following manual.
MR-J5 User's Manual
(Function)
Page 43 Test operation
Subcategory Function Description Detailed explanation
Universal drive Linear servo motor The linear servo system can be configured using a linear
Direct drive motor The direct drive servo system can be configured to drive
Encoder High-resolution encoder High-resolution encoder of 67108864 pulses/rev is used
Batteryless absolute position
encoder
servo motor and a linear encoder.
a direct drive motor.
for the encoder of the rotary servo motor.
The rotation position of the servo motor can be backed up
without the battery. Using the servo motor with this
encoder can configure the absolute value detection
system without the battery.
Refer to "When using linear
servo motor" in the following
manual.
MR-J5 User's Manual
(Hardware)
Refer to "When using direct
drive motor" in the following
manual.
MR-J5 User's Manual
(Hardware)
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)
Network
Subcategory Function Description Detailed explanation
Open network
(CC-Link line)
Common protocol SLMP This function supports SLMP (SeamLess Message
Remote maintenance Parameter automatic setting This function delivers the settings of the servo
CC-Link IE TSN communication The servo amplifier is connected to equipment such as a
controller through CC-Link IE TSN.
Protocol). Servo parameter settings and monitoring are
available.
parameters and others from the controller.
MR-J5 User's Manual
(Communication Function)
16
2 FUNCTION
2.1 Function list
Position detection
Subcategory Function Description Detailed explanation
Control method Semi closed loop system Semi closed loop system can be configured using the
motor encoder.
Absolute position Absolute position detection system Once homing is performed, homing at every power-on is
unnecessary.
Refer to "Absolute position
detection system" in the
following manual.
MR-J5 User's Manual
(Hardware)
Operation function
Subcategory Function Description Detailed explanation
Stop function Quick Stop Stops the servo motor with a specified method and
switches to the servo-off status.
Halt Stops the servo motor as maintaining the servo-on status. Refer to "Halt" in the following
Stroke limit function The travel interval of the servo motor can be limited with
LSP (Forward rotation stroke end) and LSN (Reverse
rotation stroke end).
Travel intervals can be limited with FLS (Upper stroke
limit) and RLS (Lower stroke limit) via a controller.
Software position limit Limits travel intervals by address, using servo
parameters. A function equivalent to the stroke limit
function can be set with the servo parameter.
Command generation Rotation/travel direction selection Servo motor rotation direction can be set without
changing the command polarity.
Electronic gear Positioning control is performed with the value obtained
by multiplying the position command from the upper
controller by a set electronic gear ratio.
Acceleration/deceleration function Set the time constant of acceleration and deceleration. Refer to "Acceleration/
Torque limit Limits the servo motor torque. Refer to "Torque limit" in the
Speed limit Servo motor speed in the torque control mode can be
limited to any value.
Refer to "Quick stop" in the
following manual.
MR-J5 User's Manual
(Function)
manual.
MR-J5 User's Manual
(Function)
Refer to "Stroke limit function"
in the following manual.
MR-J5 User's Manual
(Function)
Refer to "Software position
limit" in the following manual.
MR-J5 User's Manual
(Function)
Refer to "Rotation/travel
direction selection" in the
following manual.
MR-J5 User's Manual
(Function)
Refer to "Electronic gear
function" in the following
manual.
MR-J5 User's Manual
(Function)
deceleration function" in the
following manual.
MR-J5 User's Manual
(Function)
following manual.
MR-J5 User's Manual
(Function)
Refer to "Speed limit" in the
following manual.
MR-J5 User's Manual
(Function)
2
2 FUNCTION
2.1 Function list
17
Control function
Subcategory Function Description Detailed explanation
Vibration suppression Advanced vibration suppression
control II
Machine resonance suppression
filter
Shaft resonance suppression filter When a load is mounted to the servo motor shaft,
Robust filter Improves a disturbance response when a response
Slight vibration suppression control Suppresses vibration of ±1 pulse generated at each servo
Tracking control Lost motion compensation function Improves the response delay generated when the
Path tracking model adaptive control Tracking error in a small reciprocating motion can be
This function suppresses vibration and residual vibration
at an arm end.
Decreases the gain of the specific frequency to suppress
the resonance of the mechanical system.
resonance by shaft torsion during driving may generate a
mechanical vibration at high frequency. The shaft
resonance suppression filter suppresses the vibration.
performance cannot be increased because of a large load
to motor inertia ratio, such as a roll feed axis.
motor stop.
machine moving direction is reversed.
reduced.
Refer to "Advanced vibration
suppression control II" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Machine resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Shaft resonance
suppression filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Robust filter" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Slight vibration
suppression control" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Lost motion
compensation function" in the
following manual.
MR-J5 User's Manual
(Adjustment)
Refer to "Path tracking model
adaptive control" in the
following manual.
MR-J5 User's Manual
(Adjustment)
18
2 FUNCTION
2.1 Function list
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