Mitsubishi Electric AC Servo System

MR-J5-A
User's Manual
(Introduction)

-MR-J5-_A_
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".

Indicates that incorrect handling may cause hazardous conditions, resulting in

WARNING death or severe injury.

Indicates that incorrect handling may cause hazardous conditions, resulting in

CAUTION medium or slight injury.

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.

Indicates a forbidden action. For example, "No Fire" is indicated by .

Indicates a required action. For example, grounding is indicated by .

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.

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 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.

[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 of this product, battery (primary battery), and other options according to your local laws and regulations.

2
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.

(1) Introduction

This manual is necessary primarily for installing, wiring, and

(3) Rotary Servo Motor using options.
(2) Hardware (4) Linear Servo Motor
(5) Direct Drive Motor

(6) Partner Encoder

The manual is necessary for operation of servo amplifiers.

(7) Function For the usage of each function, refer to this manual.

(8) Adjustment The manual is necessary for adjustment of operation status.

The manual is necessary for specifying the causes of alarms

(9) Troubleshooting
and warnings.

(10) Parameters It describes the parameters of the servo amplifier.

No. Manual name Manual No.

(1) MR-J5-A User's Manual (Introduction) SH(NA)-030296ENG
(2) MR-J5 User's Manual (Hardware) SH(NA)-030298ENG
(3) Rotary Servo Motor User's Manual (HK series) SH(NA)-030314ENG
(4) Linear Servo Motor User's Manual (LM-H3/LM-U2/LM-F/LM-K2 series) SH(NA)-030316ENG
Linear Servo Motor User's Manual (LM-AJ series) IB(NA)-0300518ENG
(5) Direct Drive Motor User's Manual SH(NA)-030318ENG
(6) MR-J5 Partner's Encoder User's Manual SH(NA)-030320ENG
(7) MR-J5 User's Manual (Function) SH(NA)-030300ENG
(8) MR-J5 User's Manual (Adjustment) SH(NA)-030306ENG
(9) MR-J5 User's Manual (Troubleshooting) SH(NA)-030312ENG
(10) MR-J5-A User's Manual (Parameters) SH(NA)-030310ENG

3
 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

[Pr. PA01] = F E D C B A 9 8

Detail No.
PA01.0 = "8"
PA01.1 = "9"
PA01.2 = "A"
PA01.3 = "B"
PA01.4 = "C"
PA01.5 = "D"
PA01.6 = "E"
PA01.7 = "F"

• When setting a servo parameter using a combination of several digits

[Pr. PA01] = F E D C B A 9 8

Detail No.

PA01.0-1 = "98"

PA01.2-4 = "CBA"

PA01.5 = "D"
PA01.6 = "E"
PA01.7 = "F"

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 fourth last digit in PA04, the servo parameter is expressed as shown below.
[Pr. PA04.3 Forced stop deceleration function selection]
Servo Symbol Name Description
parameter
PA04.3 *AOP Forced stop deceleration function Set "Forced stop deceleration function" to enabled/disabled.
selection Initial value: 1h (enabled)

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 [(× 10-4 kg•m2)] 5.4675 [oz•inch2]
Load (thrust load/axial load) 1 [N] 0.2248 [lbf]
Temperature N [°C] × 9/5 + 32 N [°F]

4
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

CONTENTS
1.2 Model designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.3 Servo amplifier/motor combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.4 Servo amplifier standard specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
MR-J5-_A_ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Functional safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.5 Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.6 Configuration including peripheral equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.7 Special specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Servo amplifiers without the dynamic brake (-ED/-RU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

CHAPTER 2 FUNCTION 17
2.1 Function list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

CHAPTER 3 STRUCTURE 26
3.1 Parts identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.2 Switch setting and display of the servo amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Display sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Diagnostic mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Alarm mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
External I/O signal display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CHAPTER 4 STARTUP 46
4.1 Turning on servo amplifier for the first time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Test operation of the servo motor alone in test operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Equipment configuration setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Controller-related setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Operation by controller command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.2 Instructions on startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.3 Troubleshooting at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.4 Duplicate setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Duplication using MR Configurator2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.5 Test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Execution method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Motor driving by test operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Motor-less operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5
 Output signal (DO) forced output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.6 Servo amplifier setting initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Initialization procedure by MR Mode Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

CHAPTER 5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT 66

5.1 Inspection items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Periodic inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.2 Parts with a service life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.3 Replacing fan unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

CHAPTER 6 COMPLIANCE WITH GLOBAL STANDARDS 68

6.1 Compliance with global standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations
on the Transport of Dangerous Goods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
6.3 Symbol for the new EU Battery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
6.4 Compliance with China Compulsory Certification (CCC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
6.5 Compliance with the China RoHS directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76

6
1 SPECIFICATIONS
1
1.1 Outline
MR-J5-_A_ is a servo amplifier that is used with pulse train commands/analog voltage commands.

1.2 Model designation

Rating plate
The following shows an example of the rating plate for explanation of each item.

Serial number
Model
Capacity
Applicable power supply
Rated output
Standard, manual number
Ambient temperature
IP rating
KC certification number

The year and month of manufacture

Country of origin

1 SPECIFICATIONS
1.1 Outline 7
 Model
The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

MR - J 5 - 6 0 A 4 - R J

Series Special specification

Symbol Special specification
Rated output None Standard
Symbol Rated output [kW] -RJ Compatible with load-side encoder A/B/Z-phase input/high-resolution analog input
10 0.1 -ED Standard model without the dynamic brake
20 0.2 -RU MR-J5-_A_-RJ without the dynamic brake
40 0.4
60 0.6 Power supply
70 0.75 Symbol Power supply
100 1 3-phase or 1-phase 200 V AC to 240 V AC
None
200 2 4 3-phase 380 V AC to 480 V AC
350 3.5
500 5 General-purpose interface
700 7

Item Special specifications *1 Detailed explanation

Not -RJ -ED -RU
attached
(standard
model)
CN2L connector     Page 27 External encoder
connector
Linear servo system Two-wire type    
Four-wire type    
A/B/Z-phase differential input    
Fully closed loop system Two-wire type    
Scale measurement function
Four-wire type    
A/B/Z-phase differential input    
Analog input 14 bits or its equivalent     Refer to [Pr. PC60.1] in the
following manual.
16 bits or its equivalent    
MR-J5-A User's Manual
(Parameters)
Built-in dynamic brake 7 kW or less     Page 16 Servo amplifiers
without the dynamic brake (-ED/-
RU)

*1 : The corresponding item is included or supported. : The corresponding item is not included or not supported.

1.3 Servo amplifier/motor combinations

Refer to "Servo amplifier/motor combinations" in the following manual.
MR-J5 User's Manual (Hardware)

1 SPECIFICATIONS
8 1.3 Servo amplifier/motor combinations
1.4 Servo amplifier standard specifications
1
MR-J5-_A_

200 V class
Model: MR-J5- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Output Voltage 3-phase 0 V AC to 240 V AC
Rated current [A] 1.3 1.8 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0
Main circuit power Voltage/ At AC 3-phase or 1-phase 200 V AC to 240 V AC, 50 Hz/ 3-phase or 1- 3-phase 200 V AC to 240 V
supply input Frequency input 60 Hz phase 200 V AC to AC, 50 Hz/60 Hz
240 V AC, 50 Hz/
60 Hz *4
At DC 283 V DC to 340 V DC
input
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 At AC 3-phase or 1-phase 170 V AC to 264 V AC 3-phase or 1- 3-phase 170 V AC to 264 V
voltage input phase 170 V AC to AC
fluctuation 264 V AC *4
At DC 241 V DC to 374 V DC
input
Permissible frequency Within ±5 %
fluctuation
Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.
[kVA] 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 Voltage/ At AC 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz
power supply Frequency input
input
At DC 283 V DC to 340 V DC
input
Rated current [A] 0.2 0.3
Permissible At AC 1-phase 170 V AC to 264 V AC
voltage input
fluctuation
At DC 241 V DC to 374 V DC
input
Permissible frequency Within ±5 %
fluctuation
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 Voltage 24 V DC ±10 %
supply
Current capacity [A] 0.5 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Communication USB Connection to a personal computer or other devices (MR Configurator2-compatible)
function RS-422/RS-485 1: n communication (up to 32 axes)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Position control Max. pulse frequency 4 Mpulses/s (for differential receiver) *5, 200 kpulses/s (for open collector)
mode Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 26 bits
Command pulse multiplying Electronic gear A/B multiple, A:1 to 2147483647, B:1 to 2147483647, 1/10 < A/B < 64000
factor
In-position range setting 0 pulses to ±16777215 pulses (command pulse unit)
Excessive error ±3 revolutions
Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 9
 Model: MR-J5- 10A 20A 40A 60A 70A 100A 200A 350A 500A 700A
Speed control Speed control range Analog speed command 1: 2000, internal speed command 1: 5000
mode
Analog speed command 0 V DC to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
input
Speed fluctuation ratio ±0.01 % or less (load fluctuation: 0 % to 100 %), 0 % (power fluctuation: ±10 %)
±0.2 % or less (ambient temperature: 25 °C ±10 °C) when using analog speed commands
Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control Analog torque command 0 V DC to ±8 V DC/maximum torque (input impedance: 10 kΩ to 12 kΩ)
mode input
Speed limit Set with servo parameter setting or external analog input (0 V DC to ±10 V DC/rated speed)
Fully closed loop control Supported
Load-side MR-J5-_A Mitsubishi Electric high-speed serial communication
encoder interface
MR-J5-_A-RJ Mitsubishi Electric high-speed serial communication/A/B/Z-phase differential input signal
Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor
overheat protection, encoder error protection, regenerative error protection, undervoltage protection,
instantaneous power failure protection, overspeed protection, excessive error protection, magnetic pole
detection protection, and linear servo control error protection
Satisfied CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061
standards
UL standard UL 61800-5-1
Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling,
open (IP20) *6
Close mounting *2 3-phase power supply input Possible
1-phase power supply input Possible Impossible 
Mass [kg] 0.8 1.0 1.4 2.2 3.7 6.2

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity.
*2 If closely mounting the servo amplifiers, operate them at an ambient temperature of 0 ˚C to 45 ˚C or at 75 % or less of the effective load
ratio.
*3 This current value is applicable when a 3-phase power supply is used.
*4 If using 1-phase power supply in combination with the servo motor of 750 W or higher, operate the servo amplifier at 75 % or less of the
effective load ratio.
*5 When the servo amplifier is set to the initial setting, commands up to 1 Mpulse/s can be input. When inputting commands exceeding 1
Mpulse/s and up to 4 Mpulses/s, change the setting in [Pr. PA13].
*6 This does not apply to connectors.

400 V class
Model: MR-J5- 60A4 100A4 200A4 350A4
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 Voltage/ At AC 3-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
supply input Frequency input
Rated current [A] 1.4 2.5 5.1 7.9
Permissible At AC 3-phase 323 V AC to 528 V AC
voltage input
fluctuation
Permissible frequency Within ±5 %
fluctuation
Power supply capacity Refer to "Power supply capacity and generated loss" in the following manual.
[kVA] 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)

1 SPECIFICATIONS
10 1.4 Servo amplifier standard specifications
Model: MR-J5- 60A4 100A4 200A4 350A4
Control circuit Voltage/ At AC 1-phase 380 V AC to 480 V AC, 50 Hz/60 Hz
power supply
input
Frequency
Rated current [A]
input
0.1
1
Permissible At AC 1-phase 323 V AC to 528 V AC
voltage input
fluctuation
Permissible frequency Within ±5 %
fluctuation
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 Voltage 24 V DC ±10 %
supply
Current capacity [A] 0.5 (including CN8 connector signals) *1
Control method Sine-wave PWM control, current control method
Dynamic brake Built-in
Communication USB Connection to a personal computer or other devices (MR Configurator2-compatible)
function
RS-422/RS-485 1: n communication (up to 32 axes)
Encoder output pulses Compatible (A/B/Z-phase pulse)
Analog monitor Two channels
Position control Max. pulse frequency 4 Mpulses/s (for differential receiver) *2, 200 kpulses/s (for open collector)
mode
Positioning feedback pulse Encoder resolution (resolution per servo motor revolution): 26 bits
Command pulse multiplying Electronic gear A/B multiple, A:1 to 2147483647, B:1 to 2147483647, 1/10 < A/B < 64000
factor
In-position range setting 0 pulses to ±16777215 pulses (command pulse unit)
Excessive error ±3 revolutions
Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Speed control Speed control range Analog speed command 1: 2000, Internal speed command 1: 5000
mode
Analog speed command 0 V DC to ±10 V DC/rated speed (The speed at 10 V is changeable with [Pr. PC12].)
input
Speed fluctuation ratio ±0.01 % or less (load fluctuation: 0 % to 100 %), 0 % (power fluctuation: ±10 %)
±0.2 % or less (ambient temperature: 25 °C ±10 °C) when using analog speed commands
Torque limit Set with servo parameter or external analog input (0 V DC to +10 V DC/maximum torque)
Torque control Analog torque command 0 V DC to ±8 V DC/maximum torque (input impedance: 10 kΩ to 12 kΩ)
mode input
Speed limit Set with servo parameter setting or external analog input (0 V DC to ±10 V DC/rated speed)
Fully closed loop control Supported
Load-side MR-J5-_A4 Mitsubishi Electric high-speed serial communication
encoder interface
MR-J5-_A4-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 CE marking LVD: EN 61800-5-1, EMC: EN 61800-3, MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061
standards
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

*1 This value is applicable when all I/O signals are used. Reducing the number of I/O points decreases the current capacity.
*2 When the servo amplifier is set to the initial setting, commands up to 1 Mpulse/s can be input. When inputting commands exceeding 1
Mpulse/s and up to 4 Mpulses/s, change the setting in [Pr. PA13].

1 SPECIFICATIONS
1.4 Servo amplifier standard specifications 11
 Functional safety
Item Specifications
Safety sub-function STO (IEC/EN 61800-5-2)
Safety Satisfied standards EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN 62061 SIL CL3, EN 61800-5-2
performance
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 ≥ 100 [years] (314a)
(MTTFd)
Diagnostic coverage (DC) DC = Medium, 97.6 [%]
Probability of dangerous Failure per PFH = 6.4 × 10-9 [1/h]
Hour (PFH)
Mission time (TM) *2 TM = 20 [year]

*1 A test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuits to perform
self-diagnosis.
*2 Although the special proof tests within the mission time of the safety sub-function is not needed to be performed, the suggested
diagnostic test interval in IEC 61800-5-2: 2016 is at least one test per three months for Category 3 PL e, SIL 3.

Environment
Item Operation Transportation Storage
Ambient temperature 0 ˚C to 60 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing) -25 ˚C to 70 ˚C (non-freezing)
Class 3K3 (IEC 60721-3-3) Class 2K12 (IEC 60721-3-2) 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 Altitude: 2000 m or less *1 Transportation conditions: Must be Atmospheric pressure: 700 hPa to 1060
pressure transported by ground/sea, or air at an hPa
atmospheric pressure of 700 hPa or more. (equivalent to the altitude of -400 m to
3000 m.)
Vibration resistance Under intermittent vibration: 2 Hz to 9 Hz, displacement amplitude (half 2 Hz to 9 Hz, displacement amplitude (half
10 Hz to 57 Hz, displacement amplitude amplitude) 7.5 mm amplitude) 1.5 mm
0.075 mm 9 Hz to 200 Hz, acceleration amplitude 20 9 Hz to 200 Hz, acceleration amplitude 5
57 Hz to 150 Hz, acceleration amplitude m/s2 m/s2
9.8 m/s2 Class 2M3 (IEC 60721-3-2) Class 1M2 (IEC 60721-3-1)
Class 3M1 (IEC 60721-3-3)
Under continuous vibration (in each of the
X, Y, and Z directions): 10 Hz to 55 Hz,
acceleration amplitude 5.9 m/s2
Dielectric 200 V Between main circuit (power supply/power terminal) and PE: 1500 V AC, 1 minute, 50 Hz/60 Hz
strength class
400 V Between main circuit (power supply/power terminal) and PE: 2000 V AC, 1 minute, 50 Hz/60 Hz
class
Insulation resistance Between main circuit (power supply/power terminal) and PE: 0.5 MΩ or more (with a 500 V DC megger)

*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)

1 SPECIFICATIONS
12 1.4 Servo amplifier standard specifications
1.5 Function block diagram
The following shows the function block diagram of this servo amplifier.
1

200 V class
Power factor improving Regenerative
DC reactor option

Servo amplifier P3 P4 P+ C D N- Servo motor

Diode *1 Dynamic
stack Relay brake circuit
MCCB MC L1 U U
U
L2 Current V V
Power + M
Regenerative detector
supply L3
U U
Charge TR W W
light

Cooling fan *2

RA B1
L11 Control
+ circuit B
24 V DC
L21 power Electromagnetic
supply STO B2 brake
circuit

CN2
STO
CN8

switch
Base Voltage Overcurrent Current Encoder
amplifier detection protection detection
Step-
down
circuit

Control engine

CN4
Battery *4
A/D USB D/A
CN2L

External encoder
I/F
*3
CN3 CN5 CN6

D I/O control
Servo-on
Analog Command pulse train input Personal
(2 channels) Start computer Analog monitor
Malfunction, or others (2 channels)
USB

*1 The regenerative resistor is not built into the MR-J5-10A_.

*2 Servo amplifiers with the rated output symbol of 70 (MR-J5-70A_) or greater have a cooling fan.
*3 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector.
*4 To configure an absolute position detection system by using a direct drive motor, the battery is required. To configure the absolute
position detection system by using the HK series servo motor, the battery is not required.

1 SPECIFICATIONS
1.5 Function block diagram 13
 400 V class
Power factor improving Regenerative
DC reactor option

Servo amplifier P3 P4 P+ C D N- Servo motor

Diode Dynamic
stack Relay brake circuit
MCCB MC L1 U U
U
L2 Current V V
Power + M
Regenerative detector
supply L3
U U
Charge TR W W
light

Cooling fan *1

RA B1
L11 Control
+ circuit B
24 V DC
L21 power Electromagnetic
supply STO B2 brake
circuit

CN2
STO
CN8

switch
Base Voltage Overcurrent Current Encoder
amplifier detection protection detection
Step-
down
circuit

Control engine

CN4
A/D USB D/A

CN2L
External encoder
I/F
*2
CN3 CN5 CN6

D I/O control
Servo-on
Analog Command pulse train input Personal
(2 channels) Start computer Analog monitor
Malfunction, or others (2 channels)
USB

*1 Servo amplifiers with the rated output symbol of 200 (MR-J5-200A4_) or greater have a cooling fan.
*2 This is for the MR-J5-_A4-RJ servo amplifier. The MR-J5-_A4 servo amplifier does not have a CN2L connector.

1 SPECIFICATIONS
14 1.5 Function block diagram
1.6 Configuration including peripheral equipment
Equipment other than the servo amplifier and servo motor is optional or a recommended product.
1
The following is an example using MR-J5-20A-RJ.

RS T

Power supply

Molded-case Personal
circuit breaker computer
(MCCB) MR Configurator2
CN5

L1 C
N
Magnetic 1
contactor L2

(MC) L3 C
N
5
N- CN6
C
N
Analog monitor
*1
P3 6

C
CN8
P4 N Safety relay
8

Line noise filter P+

(FR-BSF01) C

L11

L21 C CN3
N
U 3
U
L1
V
L2 V
Junction terminal block
W
L3 W

Power factor
improving P3 C CN2
N
DC reactor 2

(FR-HEL) P4
C
N
2 CN2L *2
L
P+ Servo motor
C
Regenerative N
option 4

L11

E
L21

*1 The power factor improving AC reactor can also be used. In this case, the power factor improving DC reactor cannot be used.
*2 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector. If using the MR-J5-_A-RJ
servo amplifier in a linear servo system or a fully closed loop system, connect an external encoder to this connector. Refer to the
following for the compatible external encoders.
Page 26 Parts identification

1 SPECIFICATIONS
1.6 Configuration including peripheral equipment 15
 1.7 Special specifications
Servo amplifiers without the dynamic brake (-ED/-RU)

Summary
This section describes the servo amplifiers without the dynamic brake. Items not described in this section are the same as the
MR-J5-_A(4)(-RJ).

Specifications
The built-in dynamic brakes of the servo amplifiers with capacity of 7 kW or less are removed.
Take safety measures such as providing an extra circuit in case of an emergency stop, alarm, and servo motor stop at power
supply shut-off.
When the following servo motors are being used, the electronic dynamic brake may be activated at an alarm occurrence.
Series Servo motor
HK-KT HK-KT053W/HK-KT13W/HK-KT1M3W/HK-KT13UW/HK-KT23W/HK-KT43W/
HK-KT63W/HK-KT23UW/HK-KT43UW
HK-ST HK-ST52W/HK-ST1024W
HK-MT HK-MT053W/HK-MT13W/HK-MT1M3W/HK-MT23W/HK-MT43W/HK-
MT053VW/HK-MT13VW/HK-MT1M3VW/HK-MT23VW/HK-MT43VW

Setting the following servo parameter disables the electronic dynamic brake.
Servo amplifier Servo parameter Setting value
MR-J5-_A(4)-ED [Pr. PF09.0] 2
MR-J5-_A(4)-RU

When [Pr. PA04.3] is set to "2" (initial value), the forced stop deceleration function may be executed at an alarm occurrence.
Setting [Pr. PA04.3] to "0" disables the forced stop deceleration function.

1 SPECIFICATIONS
16 1.7 Special specifications
2 FUNCTION

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
2
indicated in the detailed explanation field.

Control mode
Functions Detailed functions Description Ver. *1 Detailed explanation
Pulse/analog/DI Position control mode (P) (pulse This function operates the servo motor in the A0 Refer to "CONTROL MODE"
command train input) position control mode by the pulse train input. in the following manual.
MR-J5 User's Manual
Speed control mode (S) (Internal This function operates the servo motor in the A0
(Function)
speed command/analog speed speed control mode by the internal speed
command) command or analog speed command.
Torque control mode (T) (Analog This function operates the servo motor in the A0
torque command) torque control mode by the analog torque
command.
Test operation Test operation mode This function requires MR Configurator2 for A0 Page 59 Test operation
JOG operation, positioning operation, motor-
less operation, DO forced output, and program
operation.

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

Drive motor
Functions Detailed functions Description Ver. *1 Detailed explanation
Servo motor Linear servo motor Using the linear servo motor and linear encoder A0 Refer to "USING A LINEAR
enables the linear servo system to be SERVO MOTOR" in the
configured. following manual.
MR-J5 User's Manual
(Hardware)
Direct drive motor Using this function enables the direct drive A0 Refer to "USING A DIRECT
servo system to be configured to drive the direct DRIVE MOTOR" in the
drive motor. following manual.
MR-J5 User's Manual
(Hardware)
Encoder High-resolution encoder A 67108864 pulses/rev high-resolution encoder A0 
is used for the encoder of the rotary servo
motor.
Batteryless absolute position The rotation position of the servo motor can be A0 Refer to "ABSOLUTE
encoder backed up without the battery. Using the servo POSITION DETECTION
motor with this encoder enables an absolute SYSTEM" in the following
value detection system to be configured without manual.
battery. MR-J5 User's Manual
(Hardware)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

Network
Functions Detailed functions Description Ver. *1 Detailed explanation
Remote Firmware update This function updates the firmware of the servo A0 Refer to "Firmware update" in
maintenance amplifier. the following manual.
MR-J5 User's Manual
(Function)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
2.1 Function list 17
 Position detection
Functions Detailed functions Description Ver. *1 Detailed explanation
Control method Semi closed loop system This function uses the servo motor encoder to A0 
configure semi closed loop systems.
Fully closed loop system This function uses the load-side encoder to A5 Refer to "USING A FULLY
configure fully closed loop systems. CLOSED LOOP SYSTEM" in
the following manual.
MR-J5 User's Manual
(Hardware)
Absolute position Absolute position detection This function performs homing once, and A0 Refer to "ABSOLUTE
system thereafter does not require homing at every POSITION DETECTION
power-on. SYSTEM" in the following
manual.
MR-J5 User's Manual
(Hardware)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

Operation function
Functions Detailed functions Description Ver. *1 Detailed explanation
Stop function Stroke limit function This function uses LSP (Forward rotation stroke A0 Refer to "Stroke limit
end) and LSN (Reverse rotation stroke end) to function" in the following
limit the travel interval of the servo motor. manual.
MR-J5 User's Manual
(Function)
Command Command pulse selection The command pulse train form can be selected A0 Refer to "Position control
generation from among three different types. mode (P)" in the following
manual.
MR-J5 User's Manual
(Function)
Rotation/travel direction selection This function sets the rotation direction of the A0 Refer to "Rotation/travel
servo motor without changing the command direction selection" in the
polarity. following manual.
MR-J5 User's Manual
(Function)
Electronic gear This function performs positioning control with A0 Refer to "Electronic gear
the value obtained by multiplying the position function" in the following
command from the upper controller by a set manual.
electronic gear ratio. MR-J5 User's Manual
(Function)
Acceleration/deceleration function This function sets the time constant of A0 Refer to "Acceleration/
acceleration and deceleration. deceleration function" in the
following manual.
MR-J5 User's Manual
(Function)
S-pattern acceleration/ This function performs smooth acceleration and A0 Refer to "S-pattern
deceleration time constant deceleration. acceleration/deceleration
time constant" in the
following manual.
MR-J5 User's Manual
(Function)
Torque limit This function limits the servo motor torque. A0 Refer to "Torque limit" in the
following manual.
MR-J5 User's Manual
(Function)
Speed limit This function limits the servo motor speed in the A0 Refer to "Speed limit" in the
torque control mode. following manual.
MR-J5 User's Manual
(Function)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
18 2.1 Function list
Control function
Functions Detailed functions Description Ver. *1 Detailed explanation
Vibration Advanced vibration suppression This function suppresses vibration and residual A0 Refer to "Advanced vibration
suppression control II vibration at an arm end. suppression control II" in the
following manual.
MR-J5 User's Manual 2
(Adjustment)
Machine resonance suppression This function decreases the gain of the specific A0 Refer to "Machine resonance
filter frequency to suppress the resonance of the suppression filter" in the
mechanical system. following manual.
MR-J5 User's Manual
(Adjustment)
Shaft resonance suppression filter When driving the servo motor with a load A0 Refer to "Shaft resonance
mounted to the servo motor shaft, resonance suppression filter" in the
due to shaft torsion may generate high following manual.
frequency mechanical vibration. The shaft MR-J5 User's Manual
resonance suppression filter suppresses this (Adjustment)
vibration.
Robust filter This function improves a disturbance response A0 Refer to "Robust filter" in the
when a response performance cannot be following manual.
increased because of a large load to motor MR-J5 User's Manual
inertia ratio, such as a roll feed axis. (Adjustment)
Slight vibration suppression This function suppresses vibration of ±1 pulse A0 Refer to "SLIGHT
control generated at each servo motor stop. VIBRATION SUPPRESSION
CONTROL" in the following
manual.
MR-J5 User's Manual
(Adjustment)
Tracking control Lost motion compensation This function reduces the response delay A0 Refer to "Lost motion
function generated when the machine moving direction compensation function" in the
is reversed. following manual.
MR-J5 User's Manual
(Adjustment)
Super trace control This function reduces the droop pulses at the A5 Refer to "Super trace control"
rated speed and at the uniform acceleration/ in the following manual.
deceleration to almost zero. MR-J5 User's Manual
(Adjustment)
Path tracking model adaptive This function reduces tracking errors in A0 Refer to "Path tracking model
control reciprocation. adaptive control" in the
following manual.
MR-J5 User's Manual
(Adjustment)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
2.1 Function list 19
 Adjustment function
Functions Detailed functions Description Ver. *1 Detailed explanation
Automatic Quick tuning This function automatically adjusts the gain at A0 Refer to "Quick tuning" in the
adjustment servo-on in a short time without acceleration/ following manual.
deceleration operation of the servo motor. MR-J5 User's Manual
Response without overshoot is possible, saving (Adjustment)
gain adjustment time.
Auto tuning This function automatically adjusts the gain to A0 Refer to "ADJUSTMENT
an optimum value even if the load applied to the FUNCTION TYPES" in the
servo motor shaft varies. following manual.
MR-J5 User's Manual
(Adjustment)
One-touch tuning Gain adjustment is performed with this function A0 Refer to "One-touch tuning"
just by pressing buttons on the servo amplifier in the following manual.
or by clicking a button once on MR MR-J5 User's Manual
Configurator2. (Adjustment)
Custom adjustment Model adaptive control This function enables control according to the A0 Refer to "MODEL ADAPTIVE
ideal model that is both stable and highly CONTROL" in the following
responsive. This is a two-degrees-of-freedom manual.
model and can adjust responses to commands MR-J5 User's Manual
and disturbances separately. This function can (Adjustment)
also be disabled.
Gain switching function This function switches gains during rotation and A0 Refer to "GAIN SWITCHING
during stop, and uses an input device to switch FUNCTION" in the following
gains during operation. manual.
It supports the gain switching by rotation MR-J5 User's Manual
direction and the 3-step gain switching. (Adjustment)
Therefore, more detailed gain switching is
available.
Adjustment support Machine analyzer This function analyzes the frequency A0 Refer to "Adjustment
characteristic of the mechanical system by functions available in
simply connecting the servo amplifier with an combination with MR
MR Configurator2 installed personal computer. Configurator2" in the
following manual.
MR-J5 User's Manual
(Adjustment)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
20 2.1 Function list
I/O, monitor
Functions Detailed functions Description Ver. *1 Detailed explanation
DI/DO Input signal selection (device This function assigns input devices such as LSP A0 Refer to "Assigning I/O
selection) (Forward rotation stroke end) to certain pins of devices" in the following
the connector. manual.
Output signal selection (device This function assigns output devices such as A0 MR-J5 User's Manual 2
(Function)
setting) MBR (Electromagnetic brake interlock) to
certain pins of the connector.
Output signal (DO) forced output This function forcibly switches the output A0 Page 64 Output signal
signals on and off regardless of the servo (DO) forced output
status. Use this function for purposes such as
checking output signal wiring.
External I/O signal display This function shows the on/off status of external A0 Page 42 External I/O
I/O signals on the display. signal display
A/B/Z-phase output This function outputs the positions of the A0 Refer to "A/B/Z-phase pulse
encoder and linear encoder in the A/B/Z-phase output function" in the
signal. following manual.
MR-J5 User's Manual
(Function)
LED Status display This function shows the servo status on the 7- A0 Page 28 Switch setting
segment LED display. and display of the servo
amplifier
Analog input/output Analog command input automatic Voltage is automatically offset to stop the servo A0 Page 37 Diagnostic
offset motor if it does not come to a stop when an mode
analog input such as VC (Analog speed
command) or VLA (Analog speed limit) is 0 V.
High-resolution analog input When using the MR-J5-_A-RJ, the analog input A0 
resolution is 16 bits.
Analog monitor This function outputs the servo status in voltage A0 Refer to "MONITORING" in
in real time. the following manual.
MR-J5 User's Manual
Monitor Power monitoring function This function calculates the running power and A0
the regenerative power from the data in the (Function)
servo amplifier such as speed and current. The
power consumption and other values are
displayed on MR Configurator2.

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

Option
Functions Detailed functions Description Ver. *1 Detailed explanation
Regenerative Simple converter This function enables servo amplifiers to be A0 Refer to "MR-CM simple
capacity used in a common DC bus connection. Utilizing converter" in the following
enhancement the regenerative power contributes to energy- manual.
conservation. In addition, it decreases the MR-J5 User's Manual
number of molded case circuit breakers and (Hardware)
magnetic contactors.
Regenerative option Use this function if the built-in regenerative A0 Refer to "Regenerative
resistor of the servo amplifier does not have option" in the following
sufficient regenerative capacity for the manual.
generated regenerative power. MR-J5 User's Manual
(Hardware)
Multifunction regeneration This function returns the regenerative energy B0 Refer to "FR-XC-(H)
converter generated at servo motor deceleration to the multifunction regeneration
power supply. The bus voltage can be converter" in the following
standardized among multiple servo amplifiers. manual.
MR-J5 User's Manual
(Hardware)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
2.1 Function list 21
 Engineering tool
Functions Detailed functions Description Ver. *1 Detailed explanation
Setup software MR Configurator2 This function performs settings (such as servo A0 Page 46 STARTUP
parameter settings), test operation, and
monitoring with a personal computer.

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

Protective functions
Functions Detailed functions Description Ver. *1 Detailed explanation
Alarm Alarm function This function displays an alarm or warning when A0 Refer to "Alarm function" in
an error occurs during operation. When an the following manual.
alarm occurs, ALM (Malfunction) turns off and MR-J5 User's Manual
stops the servo motor. When a warning occurs, (Function)
WNG (Warning) will turn on. The servo motor
may stop or continue operation depending on
the warning.
Alarm history clear This function clears alarm histories. A0 Refer to "Alarm history" in the
following manual.
MR-J5 User's Manual
(Function)
Power error Disconnection detection function This function detects a disconnection in the A0 Refer to "Disconnection/
detection main circuit power supply input and the servo incorrect wiring detection
motor power supply output. function" in the following
manual.
MR-J5 User's Manual
(Function)
Coasting distance Forced stop deceleration function This function decelerates the servo motor to a A0 Refer to "Forced stop
reduction stop at EM2 (Forced stop 2) off or when there is deceleration function" in the
an alarm. following manual.
MR-J5 User's Manual
(Function)
Drop protection Electromagnetic brake interlock This function operates the electromagnetic A0 Refer to "Electromagnetic
function brake at servo off and error occurrence, and brake interlock function" in
prevents the vertical axis from dropping. the following manual.
MR-J5 User's Manual
(Function)
Vertical axis freefall prevention This function moves the axis up by the A0 Refer to "Vertical axis freefall
function mechanical backlash amount of the prevention function" in the
electromagnetic brake to prevent damage to following manual.
machines. MR-J5 User's Manual
(Function)
Braking protection Dynamic brake During the power shut-off and alarm A0 Refer to "Dynamic brake
occurrence, this function shorts between U, V, characteristics" in the
and W phases and operates the dynamic brake. following manual.
MR-J5 User's Manual
(Hardware)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
22 2.1 Function list
Functional safety
Functions Detailed functions Description Ver. *1 Detailed explanation
Single servo STO function This servo amplifier supports the STO function A0 Refer to "USING STO
amplifier function for functional safety as per IEC/EN 61800-5-2. FUNCTION" in the following
This allows a safety system to be easily manual.
configured for the equipment. MR-J5 User's Manual 2
(Hardware)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

Instantaneous power failure measures

Functions Detailed functions Description Ver. *1 Detailed explanation
Tough drive SEMI-F47 function This function uses the electrical energy charged A0 Refer to "Compliance with
in the capacitor to avoid triggering [AL. 010 SEMI-F47 standard" in the
Undervoltage] in case that an instantaneous following manual.
power failure occurs during operation. Use a 3- MR-J5 User's Manual
phase power supply for the input power supply (Function)
of the servo amplifier. Using a 1-phase 200 V
AC for the input power supply will not comply
with SEMI-F47 standard.
Tough drive function This function makes the equipment continue A0 Refer to "Tough drive
operating even under conditions where an function" in the following
alarm would normally occur. There are two manual.
types of tough drive function: the vibration tough MR-J5 User's Manual
drive and the instantaneous power failure tough (Function)
drive.

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
2.1 Function list 23
 Diagnostics
Functions Detailed functions Description Ver. *1 Detailed explanation
Drive data diagnosis Drive recorder This function continuously monitors the servo A0 Refer to "Drive recorder" in
status and records the state transition before the following manual.
and after an alarm for a fixed period of time. The MR-J5 User's Manual
recorded data can be checked by the (Function)
Waveform-Display button on the drive recorder
window of MR Configurator2 being clicked.
Graph function This function obtains the servo status in the A0 Refer to "Graph function" in
graph. the following manual.
MR-J5 User's Manual
(Function)
Failure diagnosis Encoder communication This function diagnoses with MR Configurator2 A0 Refer to "Encoder
diagnosis function whether the encoder communication error is communication diagnosis
caused by the circuit malfunction of the servo function" in the following
amplifier or by the malfunction of the cables/ manual.
encoder. MR-J5 User's Manual
(Function)
Service life Servo amplifier life diagnosis This function enables checking of the A0 Refer to "Servo amplifier life
diagnosis function cumulative energization time, the number of the diagnosis function" in the
inrush relay on/off times, and the number of following manual.
dynamic brake usage times. It gives an MR-J5 User's Manual
indication of the replacement time for parts on (Function)
the servo amplifier with a service life (such as
the capacitor and the relay) before they
malfunction. MR Configurator2 is required for
this function.
Motor life diagnosis function This function predicts failures of the equipment A0
and the servo motor based on the machine total
travel distance. It gives an indication of the
replacement time for the servo motor.
Machine diagnosis function This function uses the data in the servo A0 Refer to "Machine diagnosis"
amplifier to estimate the friction and vibrational in the following manual.
component of the drive system in the equipment MR-J5 User's Manual
and to recognize an error in machine parts such (Function)
as ball screws and bearings.
This function automatically sets the threshold A0
used for detecting the error of machine parts
such as ball screws and bearings. It outputs the
warning when the friction, vibrational
component, and total revolution of the servo
motor are out of the set threshold. The error in
the machine parts such as ball screws and
bearings can be detected automatically.
This function estimates the friction of gears and A0
loosening of belts (decrease in the belt tension),
and detects errors in the gears and belts.
System diagnosis System configuration information This function uses MR Configurator2 to monitor A0 Refer to "System
the servo amplifier model, connected servo configuration display" in the
motor, encoder, and other information. following manual.
MR-J5 User's Manual
(Function)

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

History
Functions Detailed functions Description Ver. *1 Detailed explanation
 Alarm history This function saves information of the alarm that A0 Refer to "Alarm history" in the
occurred in the servo amplifier. The information following manual.
is saved in chronological order and used for MR-J5 User's Manual
occasions such as analyzing the cause of the (Function)
alarm.

*1 "Ver." indicates the supported firmware version of the servo amplifier. The functions are available on servo amplifiers with the indicated
firmware version or later.

2 FUNCTION
24 2.1 Function list
2.2 Security
To completely prevent unauthorized access to the system from external devices, the user also must take safety measures.
Mitsubishi Electric Corporation cannot be held responsible for any problems caused by unauthorized access.

2 FUNCTION
2.2 Security 25
 3 STRUCTURE

3.1 Parts identification

MR-J5-_A_
The diagram shows MR-J5-10A-RJ.

Inside of the display cover

(1)

(4)
L1 C
SFTY N
(2) 1
(11) L2
(3)
L3 C
N (5)
5
N-
C
N (6)
(17) P3 6

Side C
P4 N
8

P+

(12) C

L11 (7)
L21 C
N
3
(13) U

C
N
2
(8)
(14) C
N
2
L
(9)
C
N
4
(10)

(15) (16)
Bottom

No. Name Application Detailed explanation

(1) Display section The 5-digit, 7-segment LED display shows the servo status and Page 28 Switch setting and
alarm number. display of the servo amplifier
(2) Operation section Used to perform status display, diagnostic, alarm, and servo Page 28 Switch setting and
parameter setting operations. Push the "MODE" and "SET" at the display of the servo amplifier
same time for 3 s or more to switch to the one-touch tuning mode.
(3) USB communication connector (CN5) Connect with a personal computer. 
(4) Ethernet cable connector (CN1) Connect with a personal computer. 
(5) Analog monitor connector (CN6) Outputs the analog monitor. Refer to "Connectors and pin
assignments" in the following
manual.
MR-J5 User's Manual
(Hardware)
(6) Functional safety I/O signal connector Connect an external safety relay to use the STO function. Refer to "USING STO
(CN8) FUNCTION" in the following
manual.
MR-J5 User's Manual
(Hardware)

3 STRUCTURE
26 3.1 Parts identification
 No. Name Application Detailed explanation
(7) I/O signal connector (CN3) Connect the digital I/O signals. Refer to "Connectors and pin
assignments" in the following
manual.
MR-J5 User's Manual
(Hardware)
(8) Encoder connector (CN2) Connect a servo motor encoder or an external encoder. Page 27 External encoder
connector
(9) *1 External encoder connector (CN2L) Connect the external encoder. Page 27 External encoder
connector
(10) Battery connector (CN4) To use the direct drive motor, connect the battery for absolute Refer to "ABSOLUTE POSITION 3
position data backup. DETECTION SYSTEM" in the
following manual.
MR-J5 User's Manual
(Hardware)
(11) Main circuit power connector (CNP1) *2 Connect the input power supply. Refer to "Explanation of power
supply system" in the following
(12) Control circuit power connector (CNP2) *2 Connect the control circuit power supply and regenerative option.
manual.
(13) Servo motor power output connector Connect the servo motor. MR-J5 User's Manual
(CNP3) *2 (Hardware)
(14) Charge light When the main circuit is charged, this light is on. While the light is 
on, do not change the connections of the wires.
(15) Battery holder Install the battery for absolute position data backup. Refer to "DIMENSIONS" in the
following manual.
MR-J5 User's Manual
(Hardware)
(16) Protective earth (PE) terminal Connect this terminal to the protective earth (PE) of the cabinet. Refer to "Explanation of power
supply system" in the following
manual.
MR-J5 User's Manual
(Hardware)
(17) Rating plate Indicates model, capacity, and other information. Page 7 Rating plate

*1 This is for the MR-J5-_A-RJ servo amplifier. The MR-J5-_A servo amplifier does not have a CN2L connector.
*2 For the terminal name/assignment, refer to "DIMENSIONS" in the following manual.
MR-J5 User's Manual (Hardware)

■External encoder connector

The external encoder of A/B/Z-phase differential output type can be connected using the CN2L connector. The following table
shows the communication method of the external encoder compatible with the MR-J5-_A_ and MR-J5-_A_-RJ servo
amplifiers.
Operation mode External encoder Connector
communication method MR-J5-_A_ MR-J5-_A_-RJ
*1
Linear servo system Two-wire type CN2 CN2 *1
Four-wire type
A/B/Z-phase differential input  CN2L *4
*5 *2*3
Fully closed loop system Two-wire type CN2 CN2L
Four-wire type 
A/B/Z-phase differential input

*1 The MR-J4THCBL03M branch cable is required.

*2 The MR-J4FCCBL03M branch cable is required.
*3 If the external encoder communication method is the four-wire type, CN2 cannot be used. In that case, use the MR-J5-_A_-RJ.
*4 Connect a thermistor to CN2.
*5 Available on servo amplifiers with firmware version A5 or later.

3 STRUCTURE
3.1 Parts identification 27
 3.2 Switch setting and display of the servo amplifier

Outline
The MR-J5-_A_ servo amplifier has the display section (5-digit, 7-segment LED) and operation section (4 push buttons) for
servo amplifier status display, alarm display, servo parameter setting, etc.
Push the "MODE" and "SET" buttons at the same time for 3 s or longer to switch to the one-touch tuning mode.

5-digit, 7-segment LED Displays the data.

SFTY

Decimal LED Displays the decimal points, alarm presence/absence, and others.

Lit to indicate the decimal point.

MODE Changes display mode

Switches Low/High Decimal
To switch to the one-touch tuning mode,
this button is pushed together with the
"SET" button for 3 s or more.
Scrolls display/data (UP)
Lit to indicate a negative when "-" (negative) cannot
Scrolls display/data (DOWN)
be displayed.
SET Determines display/data
Clears data
To switch to the one-touch tuning mode,
this button is pushed together with the
"MODE" button for 3 s or more. Blinks to indicate alarm occurrence.

SFTY Light off: Functional safety unavailable

Light on: Functional safety available
Blinks to indicate the test operation mode.

Display sequence
Press the "MODE" button once to shift to the next display mode.
Use the basic setting parameters [Pr. PA19 Parameter writing prohibited] to refer to and operate the gain/filter parameters,
extension setting parameters, and I/O setting parameters.
Display mode transition Initial screen Functions Reference
Status display The servo status is displayed. The display at Page 30 Status
power-on differs depending on each operation display
mode.*1

One-touch tuning Select this when performing the one-touch tuning. Refer to "One-touch
tuning" in the following
manual.
MR-J5 User's
Manual (Adjustment)
Diagnostics The status display of each servo amplifier such as Page 37 Diagnostic
sequence display and external I/O signal display mode
and test operation are enabled.

Alarm The current alarm, alarm history, and servo Page 39 Alarm
parameter error No. are displayed. mode

3 STRUCTURE
28 3.2 Switch setting and display of the servo amplifier
Display mode transition Initial screen Functions Reference
Basic setting servo parameters The basic setting parameters can be displayed Page 40 Parameter
and set. mode

Gain/filter servo parameters The gain/filter parameters can be displayed and

set.

Extension setting servo

parameters
The extension setting parameters can be
displayed and set.
3

I/O setting servo parameters The I/O setting parameters can be displayed and
set.

Extension setting 2 servo The extension setting 2 parameters can be

parameters displayed and set.

Extension setting 3 servo The extension setting 3 parameters can be

parameters displayed and set.

For manufacturer setting This is for manufacturer setting.

For manufacturer setting This is for manufacturer setting.

Motor extension setting The motor extension setting parameters can be

parameters displayed and set.

For manufacturer setting This is for manufacturer setting.

For manufacturer setting This is for manufacturer setting.

For manufacturer setting This is for manufacturer setting.

*1 When the axis name is set to the servo amplifier using MR Configurator2, the servo status is displayed after the axis name is displayed.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 29
 Status display
The servo status during operation is shown on the 5-digit, 7-segment LED display. Press "UP" or "DOWN" to change display
data as desired. When the servo status is selected, the corresponding symbol is displayed. Press "SET" to display its data.
Only at power-on, the symbol of the status display selected with [Pr. PC36] is displayed for 2 s, and then the data is displayed.

Display transition
After selecting the status display mode by pressing "MODE", pressing "UP" or "DOWN" button changes the display as follows.
The status that can be displayed differs depending on the operation mode or control mode. Refer to the following for details.
Page 31 Status display list

Cumulative feedback pulses

DOWN UP

Motor speed

DOWN UP

DOWN UP

Unit total power consumption 2

(increment of 100 kWh)

DOWN UP

DOWN UP

Display examples
Item Status Display method
Servo motor speed 2500 r/min in the forward rotation

3000 r/min in the reverse rotation

Load to motor inertia ratio 7.00 multiplier

ABS counter 11252 rev

-12566 rev

The negative 5-digit number is indicated

by the lit decimal points of the upper four digits.

3 STRUCTURE
30 3.2 Switch setting and display of the servo amplifier
Status display list
Status display Symbol Unit Description Control Operation
mode *1 mode *2
P S T Semi Fully
closed closed
Cumulative pulse The feedback pulses from a servo     
feedback pulses motor encoder are counted and
displayed.
The values in excess of ±99999 can
be counted. However, the counter 3
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
Press the "SET" button to reset the
display value to "0".
The decimal points in the upper four
digits are lit for a negative value.
Servo motor speed/ r/min or The servo motor speed is     
linear servo motor mm/s displayed.
speed It is displayed rounding off 0.1 r/min
(0.1 mm/s) unit.

Droop pulse pulse The number of droop pulses in the     

deviation counter is displayed.
The decimal points in the upper four
digits are lit for reverse rotation
pulses.
The values in excess of ±99999 can
be counted. However, the counter
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
The number of pulses is displayed
in the units of encoder pulses.
Cumulative pulse Position command input pulses are     
command pulses counted and displayed.
As the value before being multiplied
by the electronic gear (CMX/CDV)
is displayed, the value may not
match the indicated cumulative
feedback pulses.
The values in excess of ±99999 can
be counted. However, the counter
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
Press the "SET" button to reset the
display value to "0".
When the servo motor is rotating in
the reverse direction, the decimal
points in the upper four digits are lit.
Command pulse kpulse/s The frequency of the position     
frequency command input pulses is displayed.
The value before being multiplied
by the electronic gear (CMX/CDV)
is displayed.
Analog speed limit V The input voltage of VLA (Analog     
voltage speed limit) is displayed.
Analog speed The input voltage of VC (Analog     
command voltage speed command) is displayed.

Analog torque limit V The voltage of TLA (Analog torque     

voltage limit) is displayed.
Analog torque The voltage of TC (Analog torque     
command voltage command) is displayed.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 31
 Status display Symbol Unit Description Control Operation
mode *1 mode *2
P S T Semi Fully
closed closed
Regenerative load % The ratio of regenerative power to     
ratio permissible regenerative power is
displayed in %.

Effective load ratio % The continuous effective load     

current is displayed.
The effective value in the past 15 s
is displayed in relation to the rated
current (= 100 %).
Peak load ratio % The maximum generated torque is     
displayed.
The highest value in the past 15 s is
displayed relative to the rated
torque as 100 %.
Instantaneous % The instantaneous torque is     
torque displayed.
The rated torque is displayed as
100 %. The value of the generated
torque is displayed in real time.
Position within one- pulse The position within one-revolution is     
revolution (1 pulse displayed in the encoder pulse unit.
unit) The values in excess of ±99999 can
be counted. However, the counter
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
When the servo motor rotates in the
CCW direction, the value is added.
Position within one- 1000 The position within one-revolution is     
revolution (1000 pulses displayed by increments of 1000
pulses unit) pulses unit of the encoder.
When the servo motor rotates in the
CCW direction, the value is added.
ABS counter rev The travel distance from the home     
position is displayed as multi-
revolution counter value of the
absolution position encoder in the
absolution position detection
system.
Load to motor Multiplier The estimated ratio of the load     
inertia ratio inertia moment to the servo motor
inertia moment is displayed.

Bus voltage V The voltage of main circuit     

converter (between P+ and N-) is
displayed.

Internal temperature °C The internal temperature detected     

of encoder by the encoder is displayed.
If the internal temperature of
encoder cannot be obtained, such
case as the linear servo motor or
others, "9999" is displayed.
Settling time ms The settling time is displayed. When     
the settling time exceeds 1000 ms,
"1000" is displayed.

Oscillation detection Hz The frequency at the time of     

frequency oscillation detection is displayed.

3 STRUCTURE
32 3.2 Switch setting and display of the servo amplifier
Status display Symbol Unit Description Control Operation
mode *1 mode *2
P S T Semi Fully
closed closed
Number of tough times The number of times the tough     
drive operations drive function has activated is
displayed.

Unit power W The unit power consumption by     

consumption 1
(increment of 1 W)
increment of 1 W is displayed. The
positive value indicates power 3
running, and negative value
indicates regeneration.
The values in excess of ±99999 can
be counted. However, the counter
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
Unit power kW The unit power consumption by     
consumption 2 increment of 1 kW is displayed. The
(increment of 1 kW) positive value indicates power
running, and negative value
indicates regeneration.
Unit total power Wh The unit total power consumption     
consumption 1 by increment of 1 Wh is displayed.
(increment of 1 Wh) The positive value is accumulated
during power running, while
negative value is accumulated
during regeneration.
The values in excess of ±99999 can
be counted. However, the counter
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
Unit total power 100 kWh The unit total power consumption     
consumption 2 by increment of 100 kWh is
(increment of 100 displayed. The positive value is
kWh) accumulated during power running,
while negative value is accumulated
during regeneration.
Cumulative pulse The feedback pulses from the load-     
feedback pulses side encoder are counted and
from load-side displayed.
encoder *3 The values in excess of ±99999 can
be counted. However, the counter
shows only the lower five digits of
the actual value because the servo
amplifier display is five digits.
Press the "SET" button to reset the
display value to "0".
The decimal points in the upper four
digits are lit for a negative value.
Load-side encoder pulse Droop pulses in the deviation     
droop pulses *3 counter, which are the pulse
differences between a load-side
position and a command, are
displayed. When the count exceeds
±99999, it starts from 0.
The decimal points in the upper four
digits are lit for a negative value.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 33
 Status display Symbol Unit Description Control Operation
mode *1 mode *2
P S T Semi Fully
closed closed
Load-side encoder pulse The Z-phase counter of the load-     
information 1 (1 side encoder is displayed in the
pulse unit) *3 encoder pulse unit.
For an incremental linear encoder,
the Z-phase counter is displayed.
The value is counted up from 0
based on the home position
(reference mark). For absolute
position linear encoder, the
absolute position of encoder is
displayed.
When the count exceeds 99999, it
starts from 0.
Load-side encoder 100000 The Z-phase counter of the load-     
information 1 pulses side encoder is displayed in 100000
(100000 pulses pulses unit.
unit) *3 For an incremental linear encoder,
the Z-phase counter is displayed.
The value is counted up from 0
based on the home position
(reference mark). For absolute
position linear encoder, the
absolute position of encoder is
displayed.
When the count exceeds 99999, it
starts from 0.
Load-side encoder rev If an incremental linear encoder is     
information 2 *3 used as the load-side encoder, "0"
is displayed.
If an absolute position linear
encoder is used as the load-side
encoder, "0" is displayed.
If a rotary encoder is used as the
load-side encoder, the multi-
revolution counter value of the
encoder is displayed.
Motor-side encoder pulse The position within one revolution of     
information 1 (1 the motor-side encoder is displayed
pulse unit) *3 in the encoder pulse unit.
For an incremental linear encoder,
the Z-phase counter is displayed.
The value is counted up from 0
based on the home position
(reference mark). For absolute
position linear encoder, the
absolute position of encoder is
displayed.
When the count exceeds 99999, it
starts from 0.
Motor-side encoder 100000 The position within one revolution of     
information 1 pulses the motor-side encoder is displayed
(100000 pulses in 100000 pulses unit.
unit) *3 For an incremental linear encoder,
the Z-phase counter is displayed.
The value is counted up from 0
based on the home position
(reference mark). For absolute
position linear encoder, the
absolute position of encoder is
displayed.
When the count exceeds 99999, it
starts from 0.

3 STRUCTURE
34 3.2 Switch setting and display of the servo amplifier
Status display Symbol Unit Description Control Operation
mode *1 mode *2
P S T Semi Fully
closed closed
Motor-side encoder rev If an incremental linear encoder is     
information 2 *3 used as the motor-side encoder, "0"
is displayed.
If an absolute position linear
encoder is used as the motor-side
encoder, "0" is displayed.
If a rotary encoder is used as the
motor-side encoder, the multi-
3
revolution counter value of the
encoder is displayed.
Z-phase counter pulse The Z-phase counter is displayed in     
low the encoder pulse unit.
For an incremental linear encoder,
the Z-phase counter is displayed.
The value is counted up from 0
based on the home position
(reference mark). For absolute
position linear encoder, the
absolute position of encoder is
displayed.
When the count exceeds 99999, it
starts from 0.
This is displayed only when the
linear servo motor is used.
Z-phase counter 100000 The Z-phase counter is displayed     
high pulses by increments of 100000 pulses of
the encoder.
For an incremental linear encoder,
the Z-phase counter is displayed.
The value is counted up from 0
based on the home position
(reference mark). For absolute
position linear encoder, the
absolute position of encoder is
displayed.
When the count exceeds 99999, it
starts from 0.
This is displayed only when the
linear servo motor is used.
Electrical angle low pulse The servo motor electrical angle is     
displayed. This is displayed only
when the linear servo motor is
used.

Electrical angle high 100000 The servo motor electrical angle is     

pulses displayed by increments of 100000
pulses. This is displayed only when
the linear servo motor is used.

*1 P: Position control mode

S: Speed control mode
T: Torque control mode
*2 Semi closed: Semi closed loop control mode
Fully closed: Fully closed loop control mode
*3 Available on servo amplifiers with firmware version A5 or later.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 35
 Changing the status display screen
The status display on the servo amplifier at power-on can be changed with [Pr. PC36]. For each control mode, the status
display in the initial status changes as follows.
Control mode Displayed items
Position Cumulative feedback pulses
Position/speed Cumulative feedback pulses/servo motor speed
Speed Servo motor speed
Speed/torque Servo motor speed/analog torque command voltage
Torque Analog torque command voltage
Torque/position Analog torque command voltage/cumulative feedback pulses

Other status displays

Display Status Description
Updating Indicates that a firmware update is in progress.

Initialization in progress Indicates that initialization of settings such as servo parameters is in progress.

3 STRUCTURE
36 3.2 Switch setting and display of the servo amplifier
Diagnostic mode
Name Display Description
Sequence Not ready
Indicates that the servo amplifier is being initialized or an alarm has occurred.

Ready
Indicates that initialization is completed, and the servo amplifier is in servo-on
state and ready to operate. 3
Drive recorder enabled/disabled The drive recorder is enabled.
display When an alarm occurs in this state, the drive recorder operates, and records
the status at the alarm occurrence.

The drive recorder is disabled.

The drive recorder does not operate in the following conditions.
• The graph function of MR Configurator2 is being used.
• The machine analyzer function is being used.
• [Pr. PF21] is set to "-1".
External I/O signal display Page 42 External I/O signal display Indicates the on/off status of the external I/O signal.
The upper segments correspond to the input signals, and the lower segments
correspond to the output signals.
Output signal (DO) forced output Allows digital output signal to be switched on/off forcibly.
Page 43 Output signal (DO) forced output

Test operation JOG operation The JOG operation can be performed without commands from an external
mode controller.
Page 44 JOG operation

Positioning The positioning operation can be performed without commands from an

operation external controller.
MR Configurator2 is required to perform the positioning operation.
Page 45 Positioning operation

Motor-less Without connecting the servo motor, output signals can be provided, and the
operation status display can be monitored for the input devices as if the servo motor is
actually running.
Page 45 Motor-less operation

Machine Merely connecting a servo amplifier allows the resonance point of the
analyzer mechanical system to be measured.
operation MR Configurator2 is required to perform the machine analyzer operation.
For details, refer to Help of MR Configurator2.

For This is for manufacturer adjustment.

manufacturer
adjustment

For This is for manufacturer adjustment.

manufacturer
adjustment

Firmware version lower Indicates the version of the firmware.

Firmware version upper Indicates the system number of the firmware.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 37
 Name Display Description
Analog command input 1 The analog command input 1 offset voltage can be adjusted automatically.
automatic offset VC (Analog speed command)/VLA (Analog speed limit) is set as the initial
value.
Zero-adjustment of the offset voltage is performed automatically when the
offset voltage of the internal and external analog circuits of the servo amplifier
causes the servo motor to operate slowly, even though VC (Analog speed
command) or VLA (Analog speed limit) is set to 0 V.
When using this function, enable it in the following procedure. When it is
enabled, the value of [Pr. PC37] changes to the automatically adjusted offset
voltage.

1. Press "SET" once.

2. Set the number in the first digit to 1 with "UP"/"DOWN".

3. Press "SET".
This function cannot be used if the input voltage of VC or VLA is -0.4 V or
less, or +0.4 V or more.
Even if the analog command input 1 automatic offset is performed and 0 V is
inputted, the servo motor may not stop completely due to an internal error. To
completely stop the servo motor, switch off ST1 or ST2 and stop.
Servo motor series ID Press the "SET" button to display the series ID of the servo motor currently
connected.
For the description of each display, refer to "Rotary servo motor ID codes" in
the following manual.
Rotary Servo Motor User's Manual (HK series)
Servo motor type ID Push "SET" to show the encoder ID of the servo motor currently connected.
For the description of each display, refer to "Rotary servo motor ID codes" in
the following manual.
Rotary Servo Motor User's Manual (HK series)

Servo motor encoder ID Push "SET" to show the encoder ID of the servo motor currently connected.
For the description of each display, refer to "Rotary servo motor ID codes" in
the following manual.
Rotary Servo Motor User's Manual (HK series)

For manufacturer adjustment This is for manufacturer adjustment.

For manufacturer adjustment This is for manufacturer adjustment.

3 STRUCTURE
38 3.2 Switch setting and display of the servo amplifier
Alarm mode
The current alarm, past alarm history, and servo parameter error are displayed. The lower 3 digits on the display indicate the
alarm No. that has occurred or the servo parameter No. in error.
Name Display Description
Current alarm Indicates no occurrence of an alarm.

Indicates the occurrence of [AL. 033.1 Main circuit voltage error].

3
Blinks at alarm occurrence.

(Blinking)

Alarm history Indicates that the last alarm is [AL. 050.1 Thermal overload error 1 during
operation].
When an alarm is recorded to alarm history, the 2-digit decimal point is lit.
Press "SET" to display the alarm No.
"SET"

Indicates the second last alarm is [AL. 033.1 Main circuit voltage error].
When an alarm is recorded to alarm history, the 2-digit decimal point is lit.
Press "SET" to display the alarm No.

"SET"

... ...
Indicates that there is no sixteenth alarm in the past.
When no alarm history exists, the display is as shown on the left column.

"SET"

Servo parameter error No. Indicates no occurrence of [AL. 037 Parameter error].

The setting value of [Pr. PA12 Reverse rotation torque limit] is incorrect.

(The decimal point of the five digit blinks.)

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 39
 Functions at alarm occurrence
• The current alarm is displayed in any mode.
• Even during alarm occurrence, the other screen can be viewed by pressing the button in the operation area. At this time,
the decimal point in the fifth digit remains blinking.
• Remove the cause of the alarm and clear the cause of the alarm in any of the following methods.
Cycle the power.
Press "SET" on the current alarm display.
Turn on RES (Reset).
• Clear the alarm history with [Pr. PC18].
• Press "UP" or "DOWN" to move to the next history.

Parameter mode

Parameter mode transition

After selecting the corresponding servo parameter mode with "MODE" button, pressing "UP" or "DOWN" button changes the
display as follows.

From alarm Basic setting Gain/filter Extension setting I/O setting Extension setting 2 Extension setting 3
mode servo parameters servo parameters servo parameters servo parameters servo parameters servo parameters

End End End End End End

[Pr. PA01] [Pr. PB01] [Pr. PC01] [Pr. PD01] [Pr. PE01] [Pr. PF01]

[Pr. PA02] [Pr. PB02] [Pr. PC02] [Pr. PD02] [Pr. PE02] [Pr. PF02]

Top Top Top Top Top Top

Motor extension To state

For manufacturer For manufacturer For manufacturer For manufacturer For manufacturer
setting servo transition
setting setting parameters setting setting setting
mode
End End End End End End

[Pr. Po01] [Pr. PS01] [Pr. PL01] [Pr. PT01] [Pr. PN01] [Pr. PU01]

[Pr. Po02] [Pr. PS02] [Pr. PL02] [Pr. PT02] [Pr. PN02] [Pr. PU02]

Top Top Top Top Top Top

3 STRUCTURE
40 3.2 Switch setting and display of the servo amplifier
Operation method
■Servo parameter in hexadecimal
The operation method example is shown below when [Pr. PD03 Input device selection 1L] is set to "00022002". Press
"MODE" to switch to the basic setting parameter screen.

The servo parameter number is displayed.

Press "UP" or "DOWN" to change
the number.
Press the "MODE" button once.

Press the "SET" button once.

3

Setting of the first 4 digits Setting of the last 4 digits

Press the "SET" button once. Press the "SET" button once.

The screen blinks. The screen blinks.

Change the setting value using Change the setting value using
the "UP" or "DOWN" button. the "UP" or "DOWN" button.

Press the "SET" button once. Press the "SET" button once.

The setting value is determined. The setting value is determined.

Press the "MODE" button once.

■Servo parameter in decimal

The following example gives the operation procedure to change [Pr. PA06 Electronic gear numerator] to "1234567890".

The parameter number is displayed.

Press "UP" or "DOWN" to change
the number.
Press the "MODE" button once. Press the "MODE" button once.

Press the "SET" button once.

Setting of the first 4 digits Setting of the middle Setting of the last 4 digits
4 digits

Press the "SET" button once. Press the "SET" button once. Press the "SET" button once.

The screen blinks. The screen blinks. The screen blinks.

Change the setting value using Change the setting value using Change the setting value using
the "UP" or "DOWN" button. the "UP" or "DOWN" button. the "UP" or "DOWN" button.

Press the "SET" button once. Press the "SET" button once. Press the "SET" button once.

The setting value is The setting value is The setting value is determined.
determined. determined.

Press the "MODE" button once. Press the "MODE" button once.

Press the "MODE" button once.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 41
 When the value of the servo parameter is negative, a minus is displayed in the first digit. The example for in the case of "-
1234567890" is displayed.

Press the "MODE" button once.

Press the "MODE" button once. Press the "MODE" button once.

External I/O signal display

The on/off states of the digital I/O signals connected to the servo amplifier can be confirmed.

Operation
The display screen after power-on is shown. Press "MODE" to display the diagnostic screen.

Press the "UP" button twice.

External I/O signal display screen

Display content
The 7-segment LED segments and CN3 connector pins correspond as shown below. The CN3-13 pin and CN3-14 pin can be
used on the MR-J5-_A-RJ servo amplifiers.

CN3-10/CN3-37 CN3-35/CN3-38
CN3-42 CN3-45 CN3-18 CN3-17 CN3-16 CN3-41 CN3-19 CN3-15 CN3-44 CN3-43

Input signal

Always lit

Output signal

CN3-14 CN3-13 CN3-33 CN3-48 CN3-22 CN3-25 CN3-23 CN3-24 CN3-49

Light on: on
Light off: off

The LED segments corresponding to the pins are lit to indicate on, and are extinguished to indicate off. For pin signals in each
control mode, refer to "Connectors and pin assignments" in the following manual.
MR-J5 User's Manual (Hardware)

3 STRUCTURE
42 3.2 Switch setting and display of the servo amplifier
Output signal (DO) forced output
This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such
as checking output signal wiring. Execute this operation under the servo off status (SON (servo-on) has been turned off).

Precautions
• When the servo system is used with a vertical axis, turning on MBR (electromagnetic brake interlock) assigned to the CN3
connector pin releases the electromagnetic brake, causing the axis to drop. Take measures to prevent the axis from
dropping on the machine side. 3
Operation
The display screen after power-on is shown. Press "MODE" to display the diagnostic screen.

Press the "UP" button three times.

Press the "SET" button for 2 s or more.

The signal of the LED bar just below

the lit LED bar can be switched on/off.
Always lit

Indicates on/off of an output signal.

The details are the same as those
for external output signals.
CN3-14 CN3-13 CN3-33 CN3-48 CN3-22 CN3-25 CN3-23 CN3-24 CN3-49 (Light on: on, light off: off)

Press the "MODE" button once.

The lit LED bar moves to the LED bar just above CN3-24.

Press the "UP" button once.

CN3-24 is switched on.

(Between CN3-24 and DOCOM are connected.)

Press the "DOWN" button once.

CN3-24 is switched off.

Press the "SET" button for 2 s or more.

Output signal (DO) forced output is finished.

Test operation mode

Precautions
• The test operation mode is designed for checking servo operation. Do not use it for an actual operation.
• If the servo motor operates abnormally, stop the servo motor with EM2 (Forced stop 2).
• The test operation mode cannot be used in the absolute position detection system by DIO ([Pr. PA03.0 Absolute position
detection system selection] set to "1" (enabled (absolute position detection system by DIO))). To perform the test operation,
select the incremental system in [Pr. PA03].
• MR Configurator2 is required to perform the positioning operation.
• The test operation cannot be performed unless SON (servo-on) is turned off.

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 43
 Mode switching
The display screen after power-on is shown. Select JOG operation or motor-less operation in the following procedure. Press
"MODE" to display the diagnostic screen.

Press "UP" four times.

Press the "SET" button for 2 s or more.

When this screen appears, JOG operation can be performed.

The decimal point of the last digit blinks.

JOG operation
The JOG operation can be performed when there is no command from the controller. In the linear servo motor control mode,
the JOG operation cannot be performed.

Precautions
• When performing the JOG operation, turn on EM2, LSP and LSN. LSP and LSN can be set to automatic on by setting [Pr.
PD01.2] to "C".

■Operation/drive
A servo motor operates while holding down "UP" or "DOWN". The servo motor stops operating by releasing the button.
Operation conditions can be changed by using MR Configurator2. Use the JOG operation screen of MR Configurator2.
Page 60 JOG operation
When MR Configurator2 is not used to change operation conditions, operate a servo motor with on the following conditions.
Item Setting value
Servo motor speed [r/min] 200
Acceleration/deceleration time constants [ms] 1000

Starting operation and stop of a servo motor can be done by the buttons. Operate it as follows.
Button Description
UP Press to start CCW rotation. Release to stop.
DOWN Press to start CW rotation. Release to stop.

■Status display
Press "MODE" in the JOG operation-ready status to call the status display screen. When the JOG operation is performed by
pressing "UP" or "DOWN", the servo status during the JOG operation is displayed. Every time "MODE" is pressed, the next
status display screen appears. When one cycle of the screen display is complete, it returns to the JOG operation-ready status
screen. Refer to the following for details of status display.
Page 30 Status display
Note that the status display screen cannot be changed by "UP" or "DOWN" during the JOG operation.

■Termination of JOG operation

To end the JOG operation, shut the power off once, or press "MODE" to switch to the next screen, and then hold down "SET"
for 2 s or longer.

3 STRUCTURE
44 3.2 Switch setting and display of the servo amplifier
Positioning operation
Positioning operation can be performed when there is no command from the controller. Operate the motor using the
Positioning Mode screen of MR Configurator2. Refer to the following for details.
Page 61 Positioning operation
The status display can be checked in the display section during positioning operation. Press "MODE" in the positioning
operation-ready status to call the status display screen.

Motor-less operation 3
Without connecting a servo motor, output signals and the status display can be provided in response to the input devices as if
the servo motor is actually running. This operation can be used to check the sequence of a controller or the like. Refer to the
following for details.
Page 63 Motor-less operation

3 STRUCTURE
3.2 Switch setting and display of the servo amplifier 45
 4 STARTUP

• MR-J5-_A_ servo amplifiers can be set with MR Configurator2 with software version 1.100E or later.
• This chapter explains how to start up the servo amplifier by using MR Configurator2 with software version
1.100E.
• Before starting operation, check each servo parameter. Depending on the machine, an unexpected
operation may occur.

When using a linear servo motor, the terms below have the following meanings.
• Load to motor inertia ratio → Load to motor mass ratio
• Torque → Thrust

Servo parameter setting method

MR Configurator2 is the software used for purposes such as servo parameter settings, graph measurement/display, and test
operation. This chapter describes the startup procedure of the servo amplifier when the servo amplifier is connected to a
personal computer which has MR Configurator2 installed. To learn more about using MR Configurator2, refer to Help in MR
Configurator2.

1. Connect the servo amplifier and the personal computer with a USB cable. Turn on the servo amplifier control circuit
power supply.

Servo amplifier
Personal computer
USB cable
MR-J3USBCBL3M To USB
CN5 (option) connector

2. Start MR Configurator2 and create a new project. For the connection setting, select USB. Select a servo amplifier model
and an operation mode.

4 STARTUP
46
3. Selecting "Parameter" from the project tree opens the "Parameter Setting" screen.

4. Select a group of servo parameters in the selection tree of the "Parameter Setting" window to display and configure the
settings.

4 STARTUP
47
 5. After changing the servo parameter, click "Selected Items Write" or "Axis Writing".

6. Abbreviated servo parameters prefixed with * and servo parameters marked with ** are enabled after the power is cycled
or a software reset is performed. Click "Software Reset" in MR Configurator2 to perform the software reset.

4 STARTUP
48
4.1 Turning on servo amplifier for the first time

• For the controller settings, refer to the relevant controller manual.

• For the gain adjustment, refer to the following manual.
MR-J5 User's Manual (Adjustment)

When turning on the servo amplifier for the first time, follow the steps below.
Procedure Description Reference
1. Installation and wiring Install and wire the servo amplifier and servo motor. MR-J5 User's Manual
(Hardware)

2. Test operation of the servo With the servo motor disconnected from the machine, operate the servo motor at Page 50 Test operation 4
the lowest speed possible, and check whether the servo motor operates of the servo motor alone in
motor alone in test operation
correctly. test operation mode
mode
3. Equipment configuration Set each servo parameter according to the equipment configuration. Page 51 Equipment
configuration setting
setting
4. Controller-related setting Perform necessary settings according to commands from the controller. Page 51 Controller-
related setting

5. Operation by controller Operate the servo motor at the lowest speed possible by giving commands to Page 52 Operation by
the servo amplifier from the controller, and check whether the servo motor controller command
command
operates correctly.

6. Actual operation  

4 STARTUP
4.1 Turning on servo amplifier for the first time 49
 Test operation of the servo motor alone in test operation mode

• If the servo motor operates in an unintended manner, stop the servo motor with EM2 (Forced stop 2).

Check that the servo amplifier and servo motor operate normally. With the servo motor disconnected from the machine, use
the test operation mode and check whether the servo motor operates correctly. This section describes how to check the servo
motor operation in the JOG operation. The test operation also includes the positioning operation and program operation.
Page 59 Test operation
In the linear servo motor control mode, the JOG operation cannot be performed. Check the linear servo motor operation
status by using the positioning operation or by other means.
Page 60 Motor driving by test operation

1. Turn off the power.

2. Open the "JOG Mode" screen of MR Configurator2.

3. To operate the servo motor, input the motor speed and acceleration/deceleration time constants, then click "Forward
CCW" or "Reverse CW". The servo motor operates only while the button is being clicked. Give a low speed command at
first and check the operation status.

4. After the test operation is completed, turn off the power.

4 STARTUP
50 4.1 Turning on servo amplifier for the first time
Equipment configuration setting
Set the servo parameters for each function according to the equipment configuration. For details, refer to the following
manual.
MR-J5 User's Manual (Function)
Item Description
Rotation/travel direction selection To change the rotation/travel direction (POL), change the servo parameter.
Stroke limit function Limit switches can be used to limit travel intervals of the servo motor.
Configure the settings according to the connection method of the limit switch.
In-position setting Positioning completion status can be checked with in-position. Set this as
necessary.
Forced stop deceleration function Stops the servo motor at EM2 (Forced stop 2) off. Perform settings such as
the deceleration time constant. 4
Vertical axis freefall prevention function For vertical axes, this function pulls up the shaft slightly. When using a servo
motor with an electromagnetic brake for a vertical axis, perform settings as
required.

Controller-related setting
Set the servo parameters according to the control mode to be used from the controller.
MR-J5 User's Manual (Function)
Set each servo parameter that is necessary for the operation using controller commands.
Item Description Reference
Command unit selection function The unit of torque command can be selected from Refer to "Command unit selection function" in the
the controller. following manual.
MR-J5 User's Manual (Function)
Electronic gear setting Perform the settings related to the controller Refer to "Electronic gear function" in the following
command unit and amplifier command unit. manual.
MR-J5 User's Manual (Function)

4 STARTUP
4.1 Turning on servo amplifier for the first time 51
 Operation by controller command
Perform operation for each operation mode in accordance with the instructions shown in this chapter.

Position control mode

■Instructions for power-on
Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the
following instructions on power-on.
Page 56 Instructions for power-on

1. Turn off SON (Servo-on).

2. Make sure that a command pulse train is not inputted.

3. Turn on the main circuit power supply and control circuit power supply.
Data is displayed 2 s after "C" (Cumulative feedback pulses) is displayed.

■Operation by command
1. Turn on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is in servo-on status, RD (Ready) turns on.

2. Turn on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3. When a pulse train is inputted from the controller, the servo motor starts operating. Give a low speed command at first to
check the servo motor operations such as the rotation direction. If the servo motor does not operate in the intended
direction, review the input signal and rotation/travel direction selection (POL).

4. Check the operation status.

Page 55 Checking the operation status

■Instructions on power shut-off

1. Make sure that a command pulse train is not inputted.

2. Turn off SON (Servo-on).

3. Shut off the main circuit power supply and control circuit power supply.

4 STARTUP
52 4.1 Turning on servo amplifier for the first time
Speed control mode
■Instructions for power-on
Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the
following instructions on power-on.
Page 56 Instructions for power-on

1. Turn off SON (Servo-on).

2. Make sure that ST1 (Forward rotation start) and ST2 (Reverse rotation start) are off.

3. Turn on the main circuit power supply and control circuit power supply.
Data is displayed 2 s after "r" (Servo motor speed) is displayed.

■Operation by command
1. Turn on EM2 (Forced stop 2) and SON (Servo-on). When the servo amplifier is in servo-on status, RD (Ready) turns on.

2. Turn on LSP (Forward rotation stroke end) and LSN (Reverse rotation stroke end).

3. When VC (Analog speed command) is inputted from the controller and ST1 (Forward rotation start) or ST2 (Reverse
rotation start) is turned on, the servo motor starts operating. Give a low speed command at first to check the servo motor
operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input
signal.

4. Check the operation status.

Page 55 Checking the operation status

■Instructions on power shut-off

1. Turn off ST1 (Forward rotation start) and ST2 (Reverse rotation start).

2. Turn off SON (Servo-on).

3. Shut off the main circuit power supply and control circuit power supply.

4 STARTUP
4.1 Turning on servo amplifier for the first time 53
 Torque control mode
■Instructions for power-on
Turn on the power using the following procedure. Always follow this procedure when turning on the power. Also refer to the
following instructions on power-on.
Page 56 Instructions for power-on

1. Turn off SON (Servo-on).

2. Make sure that RS1 (Forward rotation selection) and RS2 (Reverse rotation selection) are off.

3. Turn on the main circuit power supply and control circuit power supply.
Data is displayed 2 s after "U" (Analog torque command) is displayed.

■Operation by command
1. Turn on SON (Servo-on). When the servo amplifier is in servo-on status, RD (Ready) turns on.

2. When TC (Analog speed command) is inputted from the controller and RS1 (Forward rotation start) or RS2 (Reverse
rotation start) is turned on, the servo motor starts operating. Give a low torque command at first to check the servo motor
operations such as the rotation direction. If the servo motor does not operate in the intended direction, check the input
signal.

3. Check the operation status.

Page 55 Checking the operation status

■Instructions on power shut-off

1. Turn off RS1 (Forward rotation selection) or RS2 (Reverse rotation selection).

2. Turn off SON (Servo-on).

3. Shut off the main circuit power supply and control circuit power supply.

4 STARTUP
54 4.1 Turning on servo amplifier for the first time
Checking the operation status
After the operation by controller command, confirm that the servo motor can be operated properly in accordance with the
following procedure.

1. Display the Display All window in MR Configurator2. Confirm that there is no error in the items such as servo motor
speed and load ratio.

2. Display the I/O Monitor window. Confirm that there is no error in the I/O signal.

4 STARTUP
4.1 Turning on servo amplifier for the first time 55
 4.2 Instructions on startup

Instructions for power-on

• When the absolute position detection system is used in a rotary servo motor, [AL. 025 Absolute position erased] occurs the
first time that the power is turned on and the servo motor cannot be changed to servo-on status. Shut off the power once,
then cycle the power to deactivate the alarm.
• If the power is turned on while the servo motor is being rotated by an external force, an alarm may occur. Make sure that
the servo motor is not operating before turning on the power. In addition, refer to the manual for the servo motor or encoder
being used.

Stop
If any of the following situations occur, the servo amplifier suspends and stops the operation of the servo motor.
Operation/command Stopping condition
Alarm occurrence The servo motor decelerates to a stop. There are also alarms that activate
and stop the dynamic brake. For details of alarms, refer to the following
manual.
MR-J5 User's Manual (Troubleshooting)
EM2 (Forced stop 2) off The servo motor decelerates to a stop. [AL. 0E6 Servo forced stop warning]
occurs. In the torque mode, EM2 functions the same as EM1.
STO (STO1 and STO2) off The base circuit is shut off and the dynamic brake operates to stop the servo
motor.
Limit switch off When LSP (Forward rotation stroke end) or LSN (Reverse rotation stroke end)
is turned off, the servo motor comes to a quick stop and activates the servo-
lock. Operation in the opposite direction is possible.

4.3 Troubleshooting at startup

Problems that may occur at startup and the corresponding countermeasures are shown below.

Troubleshooting
If an alarm has occurred, refer to the following and remove the cause.
MR-J5 User's Manual (Troubleshooting)
Additionally, investigate the cause by using MR Configurator2. Refer to the following for details.
Page 58 Investigation by using MR Configurator2.
No. Startup sequence Fault Investigation Possible cause Reference
1 Power-on 5-digit, 7-segment LED The problem is not solved even if 1. Power supply voltage failure. 
is not lit. the CN2 and CN3 connectors are 2. The servo amplifier is
5-digit, 7-segment LED disconnected. malfunctioning.
blinks.
The problem is solved when the 1. The power supply of encoder
CN2 connector is disconnected. cabling is shorted.
2. The encoder is malfunctioning.
The problem is solved when the The power supply of the CN3
CN3 connector is disconnected. cabling is shorted.
2 SON (Servo-on) on The servo motor shaft is 1. Check the display to see if the 1. SON (Servo-on) is not switched Page 42
not servo-locked. servo amplifier is ready to on. (The wiring is incorrect.) External I/O signal
(The servo motor shaft is operate. 2. 24 V DC power is not supplied display
free.) 2. Check the external I/O signal to DICOM.
display to see if SON (Servo-on)
is on.

4 STARTUP
56 4.2 Instructions on startup
No. Startup sequence Fault Investigation Possible cause Reference
3 Operation of the servo The servo motor does Check the cumulative command 1. The wiring is incorrect. Page 30 Status
motor alone by not operate. pulses on the status display. • For the open collector pulse display
command train input, 24 V DC power is
(Position control mode) not supplied to OPC.
• LSP and LSN are not on.
2. A pulse is not inputted from the
controller.
The setting in [Pr. PA13] is
incorrect.
The servo motor Check the cumulative command 1. The wiring to the controller is
operates in the opposite pulses on the status display. incorrect.
direction. 2. The setting in [Pr. PA14] is
incorrect.
4 Operation of the servo
motor alone by
The servo motor does
not operate.
Check the input voltage of VC
(Analog speed command) on the
The analog speed command is 0
V.
4
command status display.
(Speed control mode) Check the on/off status of input LSP, LSN, ST1, and ST2 are off. Page 42
signal with the external I/O signal External I/O signal
display. display
Check [Pr. PC05 Internal speed 1] The setting is "0". Refer to "Speed
to [Pr. PC11 Internal speed 7]. control mode (S)" in
the following
Check [Pr. PA11 Forward rotation The torque limit level is too low
manual.
torque limit] and [Pr. PA12 against the load torque.
MR-J5 User's
Reverse rotation torque limit].
Manual (Function)
When TLA (Analog torque limit) is The torque limit level is too low
usable, check the input voltage on against the load torque.
the status display.
5 Operation of the servo The servo motor does Check the input voltage of TC The analog torque command is 0 Refer to "Torque
motor alone by not operate. (Analog torque command) on the V. control mode (T)" in
command status display. the following
(Torque control mode) manual.
Check the on/off status of input RS1 and RS2 are off.
MR-J5 User's
signal with the external I/O signal
Manual (Function)
display.
Check [Pr. PC05 Internal speed 1] The setting is "0".
to [Pr. PC11 Internal speed 7].
Check the value of [Pr. PC13 The torque command level is too
Analog torque command low against the load torque.
maximum output]
Check [Pr. PA11 Forward rotation The setting is "0".
torque limit] and [Pr. PA12
Reverse rotation torque limit].
6 Gain adjustment Ripples (speed Follow the procedure shown Faulty gain adjustment. MR-J5 User's
fluctuations) are large at below when adjusting the gain. Manual
low speed. 1. Improve the auto tuning (Adjustment)
responsiveness.
2. Repeat acceleration/
deceleration three times or more
to complete the auto tuning.
Large load inertia If the servo motor can be run Faulty gain adjustment.
moment causes the safely, repeat acceleration/
servo motor shaft to deceleration three times or more
oscillate side to side. to complete the auto tuning.
7 Actual operation Position mismatch Confirm the cumulative command Pulses are miscounted due to Page 58
occurs pulses, cumulative feedback noise and other factors. Investigating the
pulses, and actual servo motor cause of a position
position. mismatch

4 STARTUP
4.3 Troubleshooting at startup 57
 Investigating the cause of a position mismatch
Controller Servo amplifier

(a) Output Machine

pulse counter Servo motor
L
Electronic gear
P [Pr. PA05], [Pr. PA06], M
Q (d) Machine stop
[Pr. PA07], [Pr. PA21]
position M
(b) Cumulative Cause B
Cause A command pulses
SON (Servo-on) input
LSP/LSN (Stroke end) input Encoder
C

Cause C
(c) Cumulative
feedback pulses

If a position mismatch occurs, check (a) output pulse counter Q, (b) cumulative command pulse P, (c) cumulative feedback
pulse C, and (d) machine stop position M in the above diagram. In addition, causes A, B, and C indicate the causes of the
position mismatch. For example, Cause A indicates that noise had entered the wiring between the controller and servo
amplifier, causing the command input pulses to be miscounted.
In a normal status without the position mismatch, the following relationships are established.
• Q = P (Output counter = Cumulative command pulses)
• When [Pr. PA21.3] is set to "0"
CMX [Pr. PA06]
P = C (Cumulative command pulses × Electronic gear = Cumulative feedback pulses)
CDV [Pr. PA07]
• When [Pr. PA21.3] is set to "1"
67108864
P• =C
FBP [Pr. PA05]
• When [Pr. PA21.3] is set to "4"
CMX [Pr. PA06]
P• × 16 = C
CDV [Pr. PA07]
• C • Δℓ = M (Cumulative feedback pulses × Travel distance per pulse = Machine position)
Check the position mismatch in the following order.
• When Q ≠ P
Noise entered the pulse train signal wiring between the controller and servo amplifier, causing command input pulses to be
miscounted. (Cause A)
Check the following items and take the following measures.
Check how the shielding is done.
Change the open collector type to the differential line driver type.
Wire separately from the strong electric circuit.
Install a data line filter. (MR-J5 User's Manual (Hardware))
Change the setting of [Pr. PA13 Command pulse input form].
CMX
• When P ≠C
CDV

During operation, SON (Servo-on), LSP (Forward rotation stroke end), or LSN (Reverse rotation stroke end) was switched off,
or CR (Clear) or RES (Reset) was switched on. (Cause C)
• When C • Δℓ ≠ M
Mechanical slippage occurred between the servo motor and machine. (Cause B)

Investigation by using MR Configurator2.

The reason that the servo motor does not rotate can be investigated via MR Configurator2.
The cause that the servo motor fails to rotate is acquired from the servo amplifier of the target axis, and displayed on "No
Motor Rotation". The window will remain blank when no cause exists. "- - - -" is displayed when off-line or the cause cannot be
acquired.

4 STARTUP
58 4.3 Troubleshooting at startup
4.4 Duplicate setting
Servo amplifier parameters for which setting has been completed can be copied to another servo amplifier. Use this function
when replacing the servo amplifier of equipment with another servo amplifier during operation, and when starting up multiple
devices with the same configuration.

Restrictions
■The following data is not duplicated. Set them as required after the duplication.
Item Description
Machine service life diagnosis Machine service life diagnosis information may not be duplicated. Refer to
"Machine diagnosis" in the following manual, and perform required settings.
MR-J5 User's Manual (Function)
4
■The following data is not duplicated.
• Alarm history data
• Drive recorder data

Duplication using MR Configurator2

1. The data set in MR Configurator2 can be saved as a project.

2. To copy the project to a different servo amplifier, open the project and then connect the servo amplifier and a personal
computer via a USB cable. Turn on the servo amplifier control circuit power supply.

3. Write the required data in MR Configurator2. After the writing is completed, cycle the power or reset the software as
necessary.

4.5 Test operation

Using the test operation function enables the machine operation to be checked before the actual operation. With a personal
computer and MR Configurator2, operations such as the JOG operation, positioning operation, output signal forced output,
and program operation can be performed.

Precautions
• The test operation mode is designed for checking servo operation. This mode is not for checking machine operation. Do not
use this mode with the machine. Use this mode only with the servo motor.

Execution method
Test operation mode is enabled by MR Configurator2. To set to the normal operation mode again after executing the test
operation mode, cycle the power or reset the software.
• The test operation mode cannot be used in the absolute position detection system by DIO ([Pr. PA03.0 Absolute position
detection system selection] set to "1" (enabled (absolute position detection system by DIO))).
• MR Configurator2 is required to perform the positioning operation.
• The test operation cannot be performed unless SON (servo-on) is turned off.
• Perform the test operation after the forced stop has been released. For details of the forced stop, refer to "Forced stop
deceleration function" in the following manual.
MR-J5 User's Manual (Function)

4 STARTUP
4.4 Duplicate setting 59
 Motor driving by test operation

JOG operation
The JOG operation can be performed when there is no command from the controller. The motor can be operated at the
specified speed. Operate the motor using the JOG Mode screen of MR Configurator2.

(1)

(2)

(3)

■Motor operation setting (1)

Set the motor speed and acceleration/deceleration time constants for JOG operation. When changing the speed to the
permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection].

■Limit switch automatic ON (2)

JOG operation can be performed when the limit switch is not connected. Be sure to avoid causing a collision while performing
the operation.

■Operation (3)
The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Start" starts the operation.
When "Rotation only while the CCW or CW button is being pushed" is selected, clicking "Forward CCW" or "Reverse CW" will
perform operation until "Stop" or "Forced Stop" is clicked.

4 STARTUP
60 4.5 Test operation
Positioning operation
Positioning operation can be performed without the controller. Operate the motor using the Positioning Mode screen of MR
Configurator2.

(5)

(1)

(2)
(3)
4
(6)

(4)

■Motor operation setting (1)

Set the motor speed, acceleration/deceleration time constants, and travel distance in the positioning operation mode. When
changing the speed to the permissible speed, set the speed in [Pr. PA28.4 Speed range limit selection].

■Limit switch (2)

Select "Limit switch automatic ON" to perform the positioning operation when the limit switch is not connected. Be sure to
avoid causing a collision while performing the operation.

■Move until Z-phase signal (3)

When "Z-phase signal movement" is selected, the servo motor moves until the first Z-phase signal after positioning operation.

■Operation (4)
The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start" starts the
operation in the specified operation condition.

■Repeat operation (5)

Selecting "Make the repeated operation valid" enables the repeat operation. Selecting "Make the aging function valid" enables
the continuous operation until clicking "Stop" or "Forced Stop". Set the repeat pattern, the dwell time, and the number of
operations.

■Operation status (6)

The operation status during the repeat operation and the number of operations are displayed.

4 STARTUP
4.5 Test operation 61
 Program operation
Positioning operation using multiple operation patterns can be performed without a controller. Operate the motor using the
Program Operation screen of MR Configurator2. For details, refer to Help of MR Configurator2.

1. Open the Program Operation screen of MR Configurator2.

(1)
(3)

(2)

No. Item Screen operation

(1) Program display Displays the program. To edit the display item, click "Program Edit".
(2) Operation The servo motor can be started (CCW/CW), paused, stopped, or forcibly stopped. Clicking "Operation Start"
starts the operation.
(3) Repeat execution Displays the number of execution times. Selecting "Aging function" enables the repeated operation of the
operation program.

2. Clicking "Program Edit" in the program operation screen opens the Program Edit screen.
Input the program and click "OK". For program commands, refer to Help of MR Configurator2.

4 STARTUP
62 4.5 Test operation
Motor-less operation

• The motor-less operation cannot be used in the linear servo motor control mode or direct drive motor control
mode.

Without connecting a servo motor to the servo amplifier, output signals or status displays can be provided in response to the
controller commands as if the servo motor is actually running. This operation can be used to check the sequence of a
controller. Use this operation after the forced stop has been released. Use this operation with the servo amplifier connected to
the controller.
To perform the motor-less operation, set [Pr. PC60.0 Motor-less operation selection] to "1" (enabled). To terminate the motor-
less operation, set [Pr. PC60.0] to "0" (disabled). 4
Load conditions
The operation is performed in the following conditions. Note that the conditions may differ from those of actual machines.
Load item Condition
Load torque 0
Load to motor inertia ratio [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio]

Alarm
In the motor-less operation, some alarms and warnings are not generated. The following are examples of alarms which do not
occur.
• [AL. 016 Encoder initial communication error 1]
• [AL. 01E Encoder initial communication error 2]
• [AL. 01F Encoder initial communication error 3]
• [AL. 020 Encoder normal communication error 1]
• [AL. 021 Encoder normal communication error 2]
• [AL. 025 Absolute position erased]
• [AL. 092 Battery cable disconnection warning]
• [AL. 09F Battery warning]

4 STARTUP
4.5 Test operation 63
 Output signal (DO) forced output
This function forcibly switches the output signals on and off regardless of the servo status. Use this function for purposes such
as checking output signal wiring. Operate this function on the DO Forced Output screen of MR Configurator2.

Each output signal can be turned on/off by clicking the ON/OFF button next to its name. After checking, click "Test Operation
Mode Cancel" and terminate the output signal (DO) forced output.

4 STARTUP
64 4.5 Test operation
4.6 Servo amplifier setting initialization
Servo amplifier settings can be initialized by using the engineering tool (MR Mode Change packed with MR Configurator2).
However, information related to the servo amplifier, including power-on cumulative time and the number of relays on/off, is not
initialized.

• The storage area of the servo amplifier has a limit for the number of writings. Do not use this function
frequently.
• Execute the initialization with the servo amplifier disconnected from the network and directly connected to
MR Mode Change via a USB cable.

4
Initialization procedure by MR Mode Change
Open MR Mode Change and use a USB cable to connect the servo amplifier that will be initialized with a personal computer.
Turn on the servo amplifier control circuit power supply.

Servo amplifier
Personal computer
USB cable
MR-J3USBCBL3M To USB
CN5 (option) connector

Confirm that "Reset to factory settings" is selected, then click "Write". After the writing is completed, cycle the power or reset
the software.

Cycling the power or resetting the software initializes the setting of the servo amplifier at startup. Confirm that the initialization
has completed by reading the settings from the servo amplifier.

4 STARTUP
4.6 Servo amplifier setting initialization 65
 5 MAINTENANCE, INSPECTION AND PARTS
REPLACEMENT
5.1 Inspection items
• Do not disassemble, repair, or modify the product.
• For repair and parts replacement, contact your local sales office.
• To prevent a malfunction, do not perform an insulation resistance test (megger test) on the servo amplifier.

Periodic inspection
Perform the following inspections.
• Check for loose terminal block screws. Retighten any loose screws.
• Check the cables and the like for scratches or cracks. Inspect them periodically according to operating conditions
especially when the servo motor is movable.
• Check that the connector is securely connected to the servo amplifier.
• Check that the wires are not coming out from the connector.
• Check for dust accumulation on the servo amplifier.
• Check for unusual noise generated from the servo amplifier.
• Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a
power is shut off by the emergency stop switch.

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT

66 5.1 Inspection items
5.2 Parts with a service life
The service life of the following parts is listed below. In addition, the service life varies depending on the operating methods
and environment. If any fault is found in a part, it is necessary to replace it immediately regardless of its service life. For parts
replacement, please contact your local sales office.
Part name Recommended service life
Smoothing capacitor 10 years
Relay Total number of power-ons, stops by a dynamic brake, and forced stops:
100,000 times
Cooling fan 50,000 hours to 70,000 hours (7 to 8 years)
Absolute position battery Refer to "ABSOLUTE POSITION DETECTION SYSTEM" in the following
manual.
MR-J5 User's Manual (Hardware)

Smoothing capacitor 5
The service life of the capacitor is 10 years (with a three-phase power supply input) under continuous operation in air-
conditioned environments (ambient temperatures of 40 °C or less at altitudes of up to 1000 m and 30 °C or less at altitudes of
over 1000 m and up to 2000 m). Ripple currents or other factors will deteriorate the characteristic of the smoothing capacitor.
The service life of the capacitor greatly varies depending on ambient temperature and operating conditions.

Relays
Contact faults occur due to contact wear arisen from switching currents. A relay will reach the end of its service life if the
following actions are performed a total of 100,000 times: powering on the servo amplifier, inputting the dynamic brake stop,
and inputting the forced stop.

Servo amplifier cooling fan

The cooling fan bearings will reach the end of their service life in 50,000 hours to 70,000 hours. Therefore, the cooling fan
must be replaced after seven to eight years of continuous operation as a guideline. If unusual noise or vibration is found
during inspection, the cooling fan must also be replaced. The service life has been calculated in an environment which
contains no corrosive gas, flammable gas, oil mist, or dust. The average annual ambient temperature was 40 ˚C.

5.3 Replacing fan unit

The internal circuits of the servo amplifier may be damaged by static electricity. Take the following precautions.
• Ensure that the work bench and your body are grounded.
• Do not directly touch conductive areas such as the connector pins and electrical parts.
The fan unit is composed of a cooling fan and its cover.

List of applicable fan units

Servo amplifier Fan units
MR-J5-70A_/MR-J5-100A_ MR-J5-FAN1
MR-J5-200A_/MR-J5-350A_ MR-J5-FAN2
MR-J5-500A_ MR-J5-FAN3
MR-J5-700A_ MR-J5-FAN4
MR-J5-200A4_/MR-J5-350A4_ MR-J5-FAN2

Replacement procedure
For the replacement procedure of fan units, refer to "Fan unit replacement procedure" in the following manual.
MR-J5 User's Manual (Hardware)

5 MAINTENANCE, INSPECTION AND PARTS REPLACEMENT

5.2 Parts with a service life 67
 6 COMPLIANCE WITH GLOBAL STANDARDS

6.1 Compliance with global standards

Refer to the following manual for information about compliance with global standards.
Safety Instructions and Precautions for MR-J5 AC Servos (IB(NA)-0300391)

6.2 Handling of AC servo amplifier batteries for the

United Nations Recommendations on the
Transport of Dangerous Goods
Rev. 15 (2007) of United Nations Recommendations on the Transport of Dangerous Goods (hereinafter Recommendations of
the United Nations) was published. To reflect the Recommendations, transport regulations for lithium metal batteries are
partially revised in the Technical Instruction (ICAO-TI) by the International Civil Aviation Organization (ICAO) and the
International Maritime Dangerous Goods Code (IMDG Code) by the International Maritime Organization (IMO).
To comply with the ICAO-TI and the IMDG Code, we have modified the indication on the package for general-purpose AC
servo batteries.
The above change will not affect the function or performance of the product.

Target model
■Battery (cell)
Model Option model Type Lithium content Mass of battery Remark
ER6 MR-J3BAT Cell 0.65 g 16 g Each battery (cell) contains more than 0.3 grams of
lithium content and must be handled as dangerous
ER17330 MR-BAT Cell 0.48 g 13 g
goods (Class 9) for certain packaging requirements.
A6BAT Cell 0.48 g 13 g

■Battery unit (assembled)

Model Option model Type Lithium content Mass of battery Remark
ER6 MR-J2M-BT Assembled 4.55 g 112 g The assembled battery contains more than two grams
battery of lithium content and must be handled as dangerous
(Seven cells) goods (Class 9) regardless of packaging requirements.
CR17335A MR-BAT6V1 Assembled 1.20 g 34 g Each battery (cell) contains more than 0.3 grams of
battery (Two lithium content and must be handled as dangerous
cells) goods (Class 9) for certain packaging requirements.
MR-BAT6V1SET(-A) Assembled 1.20 g 34 g
battery (Two
cells)
MR-BAT6V1BJ Assembled 1.20 g 34 g
battery (Two
cells)

Purpose
To enable safer transportation of lithium metal batteries.

Change in regulations
The following points have been changed for lithium metal batteries transportation by sea or air based on the IATA Dangerous
Goods Regulations 54th edition effective January 1, 2013 in addition to the revision of the Recommendations of the United
Nations Rev. 15 and the ICAO-TI 2009-2010 Edition. For lithium metal batteries, battery cells alone are classified as UN3090,
and batteries assembled or packed with equipment are classified as UN3091.

6 COMPLIANCE WITH GLOBAL STANDARDS

68 6.1 Compliance with global standards
■Transportation of lithium metal batteries alone
Packaging requirements Classification Main requirements
Eight cells or fewer per package with one gram or less of lithium UN3090 PI968 Section  The package must pass a 1.2 m drop test, and a handling
content per cell label with a battery illustration (size: 120  110 mm) must be
attached to the package.
Two or fewer assembled batteries per package with two grams or
less of lithium content per battery
More than eight cells per package with one gram or less of UN3090 PI968 Section IB The package must pass a 1.2 m drop test, and a handling
lithium content per cell label with a battery illustration (size: 120  110 mm) must be
attached to the package.
More than two assembled batteries per package with two grams
or less of lithium content per battery The batteries must be handled according to Class 9
Dangerous Goods Regulations -e.g., attaching the Class 9
hazard label.
Cells with more than one gram of lithium content per cell UN3090 PI968 Section IA The package must comply with Class 9 Packages and be
Assembled batteries with more than two grams of lithium content handled according to Class 9 Dangerous Goods
Regulations -e.g., attaching the Class 9 hazard label.
per battery

■Transportation of lithium metal batteries packed with or contained in equipment

• For batteries packed with equipment, follow the necessary requirements of UN3091 PI969. Batteries are classified into
either Section /Section  depending on the lithium content/packaging requirements.
• For batteries assembled in equipment, follow the necessary requirements of UN3091 PI970. Batteries are classified into
either Section /Section  depending on the lithium content/packaging requirements. The special handling may be 6
unnecessary depending on the number of batteries and gross mass per package.

Ex.
Mitsubishi Electric label with battery illustration

* UN number (s)
** Telephone number for additional information
Example of Mitsubishi Electric label with battery illustration
(Available from January 1, 2017)

■Details of the package change

The following caution has been added to the packages of the corresponding batteries.
"Containing lithium metal battery. Regulations apply for transportation."

■Transportation precaution for customers

For sea or air transportation, the handling label (above Fig.) must be attached to the package of a Mitsubishi Electric cell or
battery. In addition, attaching the label to the outer package of an overpack containing several packages by Mitsubishi Electric
is also required. When the content of a package must be handled as dangerous goods (Class 9), the Shipper's Declaration for
Dangerous Goods is required, and the package must be compliant with Class 9 Packages. Documentation like the handling
label in the specified design and the Shipper's Declaration for Dangerous Goods are required for transportation. Please attach
the documentation to the packages and the outer package of the overpack.

The requirements of the IATA Dangerous Goods Regulations are subject to change according to the annual revision. When
customers transport lithium batteries by themselves, the responsibility for the cargo lies with the customers. Thus, be sure to
check the latest version of the IATA Dangerous Goods Regulations.

6 COMPLIANCE WITH GLOBAL STANDARDS

6.2 Handling of AC servo amplifier batteries for the United Nations Recommendations on the Transport of Dangerous Goods 69
 6.3 Symbol for the new EU Battery Directive
The symbol for the new EU Battery Directive (2006/66/EC) that is plastered to the general-purpose AC servo battery is
explained here.

• This mark is valid only in EU.

This mark is in accordance with directive 2006/66/EC Article 20 "Information for end-users" and Annex .
MITSUBISHI ELECTRIC products are designed and manufactured with high quality materials and components which can be
recycled and/or reused.
This symbol means that batteries and accumulators, at their end-of-life, should be disposed of separately from household
waste.
If a chemical symbol is shown beneath the above symbol, a heavy metal of the corresponding chemical symbol is contained in
the battery or the accumulator with the following standard concentration or more.
This will be indicated as follows.
Hg: mercury (0.0005 %), Cd: cadmium (0.002 %), Pb: lead (0.004 %)
In the European Union, there are separate collection systems for used batteries and accumulators. Batteries and
accumulators must be disposed of properly.
Help us to conserve the environment we live in.

6 COMPLIANCE WITH GLOBAL STANDARDS

70 6.3 Symbol for the new EU Battery Directive
6.4 Compliance with China Compulsory Certification
(CCC)
Introduction
Some products are required to comply with China Compulsory Certification (hereinafter referred to as CCC) if exported,
distributed, or sold to China. An outline of CCC is explained in this section. Mitsubishi Electric servo products are not subject
to CCC.

CCC mark

Outline of CCC
CCC is a system for product certification that has been in effect in China since August 2003, the purpose of which is to protect
consumers and ensure safety domestically in China. The certification system currently has five types of certification: safety,
electromagnetic compatibility (EMC), safety + EMC, fire-fighting equipment, and wireless LAN. Products subject to the 6
certification are allowed to be exported, distributed, or sold to China only if they are certified by this system.
Products that have received certification proving compliance with the relevant technical standards (or products declared by
the manufacturer as being compliant) must carry the specified mark (CCC mark). Many of the technical standards to be
applied are GB standards (Chinese national standards), which comply with global standards such as those set forth by the
IEC (International Electrotechnical Commission) and CISPR (International Special Committee on Radio Interference).

Judgment
20 product groups divided into 158 categories are specified as the subject products (announcement No. 45, 2014). The
following table shows whether the servo products are required to comply with CCC.
Model Judgment
AC servo amplifier Not subject
AC servo motor *1 Not subject
Options *2 Not subject

*1 Small capacity motors with a capacity of 750 W or lower are included in the catalog of products subject to CCC, but the requirements do
not apply to our products for the following reasons:
Explosion proof motors and controlled motors (servo motors, stepping motors, etc.) are excluded from the subject small capacity motors.
*2 Mitsubishi Electric option cables use the wires that is not classified into the cable category in the catalog.

6 COMPLIANCE WITH GLOBAL STANDARDS

6.4 Compliance with China Compulsory Certification (CCC) 71
 6.5 Compliance with the China RoHS directive

Outline
The China RoHS directive: 电子信息产品污染控制管理办法 (Management Methods for Controlling Pollution by Electronic
Information Products) came into effect on March 1, 2007. The China RoHS directive was replaced by the following China
RoHS directive: 电器电子产品有害物质限制使用管理办法 (Management Methods for the Restriction of the Use of
Hazardous Substances in Electrical and Electronic Products). The succeeding China RoHS directive has been in effect since
July 1, 2016.
The China RoHS directive restricts the following hazardous substances: six hazardous substances (lead, mercury, cadmium,
hexavalent chromium, polybrominated biphenyls (PBB), and polybrominated diphenyl ethers (PBDE)) which are also
restricted by EU RoHS 2 (directive 2011/65/EU), and other hazardous substances specified by the State (currently no
applicable substances).

Status of our products for compliance with the China RoHS directive
The following table shows the logo types for the environmental protection use period, and whether the six hazardous
substances are contained in our products or not. This table was created based on the standard SJ/T11364.
Part name Hazardous substance (substance/threshold/standard) *1 Logo for Remark
Lead Mercury Cadmium Hexavalent PBB PBDE environmental
(Pb) (Hg) (Cd) chromium protection use
(Cr(VI)) period *2

Threshold: cadmium: 0.01 wt% (100 ppm), other than cadmium: 0.1
wt% (1000 ppm)
Servo amplifier Mounting board       
Servo system
Heat sink      
controller
Resin cabinet      
Plate and screw      
Servo motor Bracket       
Mounting board      
Resin cabinet      
Core and cable      
Cable product Wire       Including
connector set
Connector      
Optional unit Mounting board       
Resin cabinet      
Plate and screw      

*1 : Indicates that said hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement of
GB/T26572.
: Indicates that said hazardous substance contained in at least one of the homogeneous materials for this part is above the limit
requirement of GB/T26572.
*2 Indications based on "Marking for the restriction of the use of hazardous substances in electrical and electronic products" [SJ/T11364-
2014]
Indicates that a certain hazardous substance is contained in the product manufactured or sold in China.
Follow safety and usage precautions for the product, and use the product within a limited number of years from the production date. Doing so
prevents any hazardous substances in the product from causing environmental pollution or seriously affecting human health or property.
Indicates that no certain hazardous substance is contained in the product.

6 COMPLIANCE WITH GLOBAL STANDARDS

72 6.5 Compliance with the China RoHS directive
Difference between the China RoHS directive and the EU RoHS directive
The China RoHS directive allows no restriction exemption unlike the EU RoHS directive. Although a product complies with the
EU RoHS directive, a hazardous substance in the product may be considered to be above the limit requirement (marked "")
in the China RoHS directive.
The following shows some restriction exemptions and their examples according to the EU RoHS directive.
• Lead as an alloying element in steel for machining purposes and in galvanized steel containing up to 0.35 % lead by
weight, lead as an alloying element in aluminum containing up to 0.4 % lead by weight, and copper alloy containing up to 4
% lead by weight, e.g. brass-made insert nuts
• Lead in high melting temperature type solders (i.e. lead-based alloys containing 85 % by weight or more lead)
• Electrical and electronic components (such as piezoelectric sensors) containing lead in glass or ceramic materials, but not
including the dielectric ceramics used in capacitors
• Electrical and electronic components containing lead in a glass or ceramic matrix compound, e.g. chip resistors

Status of our products for compliance with the China RoHS directive (Chinese)
The following table is given in Chinese according with a request by "Management Methods for the Restriction of the Use of
Hazardous Substances in Electrical and Electronic Products".
Page 72 Status of our products for compliance with the China RoHS directive
6
部件名称 有害物质 (物质名称/阈值/基准)*1 环境保护 备注
使用期限
铅 汞 镉 六价铬 PBB PBDE
标识 *2
(Pb) (Hg) (Cd) (Cr(VI))
阈值: 镉: 0.01wt% (100ppm)、镉以外: 0.1wt% (1000ppm)
伺服放大器 电路板组件       
伺服系统控
散热片      
制器
树脂壳体      
金属板、螺丝      
伺服电机 托架       
电路板组件      
树脂壳体      
铁心、电线      
电缆加工品 电线       包括连接器
组件
连接器      
选件模块 电路板组件       
树脂壳体      
金属板、螺丝      

*1 : 表示该有害物质在该部件所有均质材料中的含量均在GB/T26572规定的限量要求以下。
: 表示该有害物质在该部件的至少一种均质材料中的含量超出GB/T26572规定的限量要求。
*2 根据“电子电气产品有害物质限制使用标识要求”、[SJ/T11364-2014]的表示
该标志表示在中国制造/销售的产品中含有特定有害物质。
只要遵守本产品的安全及使用方面的注意事项，从生产日算起的环保使用期限内不会造成环境污染或对人体、财产产生深刻的影响。

该标志表示制造的产品中不含有特定有害物质。

6 COMPLIANCE WITH GLOBAL STANDARDS

6.5 Compliance with the China RoHS directive 73
 REVISIONS
*The manual number is given on the bottom left of the back cover.
Revision date *Manual number Description
July 2019 SH(NA)-030296ENG-A First edition
January 2020 SH(NA)-030296ENG-B ■The following functions are added:
Fully closed loop system, super trace control
July 2020 SH(NA)-030296ENG-C ■MR-J5-500A_, MR-J5-700G_, and models without the dynamic brake are added.
■The following functions are added:
Multifunction regeneration converter
■Added sections:
Section 1.3, Section 1.7, Section 6.4
November 2020 SH(NA)-030296ENG-D ■MR-J5-60A4_, MR-J5-100A4_, MR-J5-200A4_, and MR-J5-350A4_ are added.
■Added/edited sections:
Section 1.2, Section 1.4, Section 1.5, Section 1.7, Chapter 2, Section 5.3
March 2021 SH(NA)-030296ENG-E ■Added/edited sections:
Section 1.3, Section 1.4, Section 2.1, Section 4.1, Section 4.2, Section 5.2
June 2021 SH(NA)-030296ENG-F ■HK-MT series servo motors are added.
■Edited sections:
Section 1.4, Section 1.7, Section 2.1

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot
be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 2019 MITSUBISHI ELECTRIC CORPORATION

74
WARRANTY
Warranty
1. Warranty period and coverage
We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen
during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the
Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on
request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be
required after a defective unit are repaired or replaced.
[Term]
For terms of warranty, please contact your original place of purchase.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.
It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not
be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed
to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
1. a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware
or software problem
2. a failure caused by any alteration, etc. to the Product made on your side without our approval
3. a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety
device required by applicable laws and has any function or structure considered to be indispensable according to a common
sense in the industry
4. a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained
and replaced
5. any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
6. a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
7. a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of
the Product from our company
8. any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production
(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries
Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair
work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for
damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product
(1) For the use of our AC Servo, its applications should be those that may not result in a serious damage even if any failure or
malfunction occurs in AC Servo, and a backup or fail-safe function should operate on an external system to AC Servo when any
failure or malfunction occurs.
(2) Our AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of
electric power companies, and also which require a special quality assurance system, including applications for railway companies
and government or public offices are not recommended, and we assume no responsibility for any failure caused by these
applications when used.
In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments,
railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety
machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used.
We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific
application. Please contact us for consultation.

75
 TRADEMARKS
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries.
All other product names and company names are trademarks or registered trademarks of their respective companies.

76 SH(NA)-030296ENG-F
SH(NA)-030296ENG-F(2106)MEE
MODEL:
MODEL CODE:

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the
Ministry of Economy, Trade and Industry for service transaction permission.

Specifications are subject to change without notice.