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MELSERVO-J5 Series Servo Amplifier

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MELSERVO-J5 Series Servo Amplifiers


Supports Ethernet-based CC-Link IE TSN, featuring high-speed, large-capacity communication (1 Gbps). Command communication cycle of ≥ 31.25 μs and speed frequency response of 3.5 kHz enable advanced motion control.


Drives a maximum of either two or three servo motors. This simplifies wiring, saves energy, and enables a compact machine at a lower cost.



The drive unit is a converter separate type servo amplifier (1/2/3-axis type available). Combined with an MR-CV_4 power regeneration converter unit, the drive unit can create an energy-saving servo system.

General purpose interface-compatible

Enables position control by pulse train command and speed/torque control by analog voltage command.
The maximum command pulse frequency is 4 Mpulses/s.

Tuning Functions

Use the tuning methods that are optimal for your machines.

Use the tuning methods that are optimal for your machines.

Quick Tuning

Quick Tuning

This function automatically performs easy-to-use auto tuning that controls vibration and overshoot just by turning on the servo-on command. Before normal operation, the servo amplifier sets control gain and machine resonance suppression filters in 0.3 seconds by inputting torque to the servo motor automatically. After completing the setting, the servo amplifier starts operation normally.

One-Touch Tuning

This function automatically completes servo gain adjustment according to the mechanical characteristics and reduces the settling time just by turning on the one-touch tuning. The servo gain adjustment includes the machine resonance suppression filter, advanced vibration suppression control II, and the robust filter. Controlling overshoot and vibration is improved, maximizing your machine performance.

One-Touch Tuning

Advanced Vibration Suppression Control Ⅱ

This function suppresses two types of low frequency vibrations, owing to vibration suppression algorithm which supports three-inertia system. This function is effective in suppressing residual vibration with relatively low frequency of approximately 100 Hz or less generated at the end of an arm and in a machine, enabling a shorter settling time. Adjustment is easily performed on MR Configurator2.

Advanced Vibration Suppression Control Ⅱ

Command Notch Filter

The frequency can be set close to the machine vibration frequency because the command notch filter has an applicable frequency range between approximately 1 Hz and 2000 Hz.

Machine Resonance Suppression Filter

The expanded applicable frequency range is between 10 Hz and 8000 Hz. Five filters are simultaneously applicable, improving vibration suppression performance of a machine. The machine resonance frequency is detected by the machine analyzer function in MR Configurator2.

Reduced Energy and Maximized Space with Simplified Wiring

Simple Converter MR-CM

Utilizing a common bus connection conserves energy through the efficient use of regenerative power. Wiring can be simplified and installation space can be saved by reducing the number of molded-case circuit breakers and magnetic contactors. The MR-CM simple converter can connect to up to six compatible servo amplifiers having a total capacity of 3 kW or lower.
Wiring for the bus and the control power supply can be simplified by using daisy chain power connectors for passing wiring.

Simple Converter MR-CM

  • * Simple converters are also available with MR-J5-A.

Application Examples

Multi-Axis Servo Amplifiers J5W2-GJ5W3-G

Multi-Axis Servo Amplifiers

The 2-axis and 3-axis servo amplifiers are available for operating two and three servo motors, respectively. These servo amplifiers enable an energy-saving and compact machine at lower cost. Different types of servo motors including rotary servo motors, linear servo motors, and direct drive motors are freely combined as long as the servo motors are compatible with the servo amplifier.

400 V class Compact 3.5 kW Servo Amplifiers


The 400 V class 3.5 kW servo amplifiers are much more compact than the conventional model of MR-J4, saving space in the cabinet.

400 V Class Drive Unit (Converter Separate Type) MR-J5D-G4 NEW

  • MR-J5D-G4 drive units (converter separate type) are newly added to the product lines of the 400 V class servo amplifiers and are available in 1-axis/2-axis/3-axis types.
  • Combined with an MR-CV_4 power regeneration converter unit, MR-J5D-G4 can create an energy-saving, space-saving, and less-wiring servo system.
  • MR-J5D-G4 supports safety communication of CC-Link IE TSN, enabling functional safety without a dedicated unit. For multiple-axis servo systems, functional safety can be used just by using a network cable.

Features of MR-J5D-G4 Drive Units

  • The common DC bus connection saves energy and space, and reduces wiring.
  • MR-J5D2-G4 (2-axis drive unit)/MR-J5D3-G4 (3-axis drive unit) save space and reduce wiring further.
  • MR-J5D1-G4/MR-J5D2-G4/MR-J5D3-G4 support safety sub-functions as standard. For multi-axis drive units, the safety sub-functions such as STO can be set for each axis even through the safety communication of CC-Link IE TSN.
  • The drive units are equipped with a replaceable cooling fan unit, which can be easily replaced by users.

Space-Saving with 3-Axis Drive Units (Smaller Width)

The 400 V class 3-axis drive units enable space-saving.
For example, when 3-axis drive units in 1 kW are used instead of 1-axis servo amplifiers in 1 kW for driving six axes, the installation width can be reduced by 200 mm.
The number of molded-case circuit breakers and magnetic contactors can also be reduced.

Energy-Saving with 400 V Class Systems

Further Energy-Saving with Common DC Bus Connection and Power Regeneration System J5D-G4

When multiple MR-J5D-G4 drive units are connected to an MR-CV_4 power regeneration converter unit by a common DC bus connection, the regenerative power of one axis can be used for driving other axes, contributing to energy-saving.
The MR-CV_4 power regeneration converter unit has a power regeneration system which returns the regenerative power back to the power supply, enabling the regenerative energy to be used for other systems for further energy-saving. In addition, when the converter unit is used, a regenerative option is not required, resulting in reduction of heat generation.

400 V Servo Amplifiers Providing New Combinations with Servo Motors

The MR-J5 series 400 V class servo amplifiers can drive 50 W to 7 kW servo motors. The HK-KT series, HK-ST series, and HK-RT series are available, which will optimize your machines.

Motor flange size [unit: mm]

Predictive Maintenance

The servo amplifiers detect signs of machine failure by monitoring the operation status.

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Machine Diagnosis (Ball Screws/Linear Guides)

Machine Diagnosis (Ball Screws/Linear Guides)

This function supports predictive maintenance by estimating frictions and vibrations of mechanical drive components such as ball screws and linear guides.

  • Friction failure prediction with the friction estimation function
  • Vibration failure prediction with the vibration estimation function

Machine Diagnosis (Ball Screws/Linear Guides)

Machine Diagnosis (Belts)

Machine Diagnosis (Belts)

This function detects aging deterioration of belts in advance by the static friction failure prediction and the tension deterioration prediction with the belt tension estimation.

  • Static friction failure prediction
  • Belt tension deterioration prediction

Machine Diagnosis (Gears) *1

Machine Diagnosis (Gears)

With this function, the servo amplifier generates commands automatically, and executes to-and-fro positioning operation to estimate the amount of gear backlash. Gear failure is predicted based on the set nominal values for backlash.

  • Backlash estimation function
  • Gear failure prediction
  • *1. The machine diagnosis (gears) does not work during normal operation.

Preventive Maintenance

Machine Diagnosis (Mechanical Drive Components)

Machine Diagnosis (Mechanical Drive Components)

This function estimates when a machine failure will occur based on the total travel distance of the servo motor, and notifies when it is time for replacement if the rated life of the mechanical drive components is set.

  • Machine total travel distance failure prediction

Servo Amplifier Life Diagnosis

Servo Amplifier Life Diagnosis

This function displays the cumulative energization time and the number of inrush relay on/off times. The data can be used to check life of the parts as a rough guide.

  • Cumulative energization time (Smoothing condenser/
    cooling fan life span)
  • The number of inrush relay on/off times (Inrush relay life)

Corrective Maintenance

Drive Recorder Enhanced

This function continuously monitors the servo status and records the status transition such as a trigger condition before and after an alarm for a fixed period of time. Reading the servo data on MR Configurator2 helps you analyze the cause of the alarm. In addition to the monitor values and the waveform of the past 16-time alarms in the alarm history, the system configuration and the servo parameters are displayed. Alarm occurrence time is also displayed when the servo amplifier and the controller are normally in communication on CC-Link IE TSN.
The data can be outputted to a GX LogViewer format file.

Servo Amplifier Drive Recorder

Connection/Communication Diagnosis

Disconnection Detection

Disconnection Detection

The servo amplifiers are equipped with both input open-phase detection and output open-phase detection. Input open-phase detection detects an open phase of the main circuit power supply of the servo amplifier, and output open-phase detection detects an open phase of the servo motor power supply. The alarm can be distinguished from other alarms such as the overload alarm, reducing the time required to restore the system.

Servo Motor Incorrect Wiring Detection J5W2-GJ5W3-G

Servo Motor Incorrect Wiring Detection

Multi-axis servo amplifiers MR-J5W2-G/MRJ5W3-G detect servo motors with a different capacity that are incorrectly connected to the A-axis/B-axis/C-axis, contributing to servo motor protection. The servo amplifiers obtain servo motor capacity information of the connected servo motors from the encoders and check whether the servo motors which are connected to the power connectors match the capacity information. If the information is not matched, an alarm occurs.*1

  • *1. The incorrect wiring detection does not work for servo motors with the same capacity.

Encoder Communication Diagnosis

Encoder Communication Diagnosis

The encoder communication diagnosis checks the encoder communication circuit in the servo amplifier. This function is useful for classifying the cause of errors (such as disconnected encoder cables) when the encoder communication alarm occurs.

Path Control

Super Trace Control

This function reduces a position deviation to nearly zero not only during constant velocity operation, but also during constant acceleration/deceleration.
The path accuracy will be improved in high rigidity machines.

Super Trace Control Enhanced

Lost Motion Compensation

This function suppresses quadrant protrusion caused by friction and torsion generated when the servo motor rotates in a reverse direction.
Therefore, the accuracy of circular path will be improved in path control used in XY table, etc.

Lost Motion Compensation

Path Tracking Model Adaptive Control

This function reduces path errors which occur when the servo motor reciprocates. Normally, when positioning control is executed, the model adaptive control adjusts the control to shorten a settling time. Instead, this function reduces overshooting to improve path accuracy, which is suitable for machines that require high-accuracy path control such as processing machines.

Path Tracking Model Adaptive Control

Safety Sub-Functions Enhanced functions

Built-In Safety Functions and a Wide Range of Safety Sub-Functions J5-G-RJ

Touch Probe Function

MR-J5-G-RJ has a built-in safety control part, supporting safety subfunctions without a dedicated unit. When the servo amplifier is combined with HK-KT_WS/HK-ST_WS servo motors with functional safety, the safety level is enhanced.
The servo amplifiers support the safety sub-functions of STO/SS1/SS2/SOS/SBC/SLS/SSM/SDI/SLI/SLT at a safety level of SIL 2 or SIL 3.

Touch Probe Function

Servo motors with functional safety support the safety sub-functions at a higher safety level. The functional safety encoders provide the servo motor positions and speeds necessary for the safety sub-functions at a safety level of Category 4 PL e, SIL 3.
Encoder cables for the servo motors with functional safety are the same as for the standard servo motors.

Safety Communication via CC-Link IE TSN J5-G-RJ

Touch Probe Function

CC-Link IE TSN enables control of safety and non-safety communications realizing a flexible system whereby safety communications can be easily incorporated into the main control network.
When combined with R_SFCPU-SET safety CPU and RD78G Motion module, MR-J5-GRJ can receive safety signal data of the safety CPU through CC-Link IE TSN. Wiring the safety signals to the servo amplifiers is not necessary.

STO Function Compliant with IEC/EN 61800-5-2

Functions Compliant with IEC/EN 61800-5-2

STO (Safe torque off) is integrated as standard, enabling easy configuration of a safety system which shuts off power to a servo motor in the machine.
The STO function can be set for each axis with MR-J5W2-G/MR-J5W3-G.

  • By using STO, it is not necessary to turn off the control power of the servo amplifier, resulting in a shorter restart time and eliminating the necessity of homing.
  • A magnetic contactor for preventing unexpected motor start is not needed.*1
Servo amplifier model Safety level
MR-J5-G/MR-J5-A/MR-J5-A-RJ Category 3 PL e, SIL 3
MR-J5-G-RJ/MR-J5W2-G/MR-J5W3-G Category 4 PL e, SIL 3 *2
  • *1. Magnetic contactors are not required to meet the STO requirements. However, this illustration recommends the use of a magnetic contactor which shuts off the main circuit power supply of the servo amplifier at an alarm occurrence.
  • *2. The safety level requires STO wiring to a servo amplifier using safety equipment including a safety programmable controller that is compatible with Category 4. When a switch is connected directly to a servo amplifier as shown in the illustration, the safety level is Category 3. For details of safety sub-functions, refer to "MR-J5 User's Manual".

Safety Sub-Functions Compliant with IEC/EN 61800-5-2 Enhanced functions

MR-J5-G-RJ supports safety sub-functions, STO/SS1/SS2/SOS/SBC/SLS/SSM/SDI/SLI/SLT.
Refer to "Safety Sub-Functions" in section 1, page 11 of the brochure for the safety sub-functions and the safety levels, which vary depending on the combinations of the servo amplifiers and the rotary servo motors (including servo motors with functional safety)/linear servo motors/direct drive motors.


Safe torque off

Responding to the input signal from external equipment, the STO function shuts off power to the servo motor electronically using the internal circuit (shuts off through secondary-side output).
This function corresponds to the Stop category 0 of IEC/EN 60204-1.


Safe stop 1

Responding to the input signal from external equipment, the servo motor starts to decelerate. After the set delay time for motor stop is passed, the STO function starts.
Monitoring the servo motor deceleration based on the motor deceleration rate is also supported.
This function corresponds to the Stop category 1 of IEC/EN 60204-1.


Safe stop 2

Responding to the input signal from external equipment, the servo motor starts to decelerate. After the set delay time for motor stop is passed, the SOS function starts.
Monitoring the servo motor deceleration based on the motor deceleration rate is also supported.
This function corresponds to the Stop category 2 of IEC/EN 60204-1.


Safe operating stop

This function monitors the position of the servo motor not to deviate from the specified range. Power is still supplied to the servo motor during the SOS function.


Safe brake control

The SBC signals are outputted for external brake control.


Safely-limited speed

This function monitors the speed of the servo motor not to exceed the specified speed limit. If the speed exceeds the limit, the motor power is shut off by the STO.


Safe speed monitor

The SSM signals are outputted when the speed of the servo motor is below the specified speed limit.


Safe direction

This function monitors whether the servo motor moves in the command direction.
If the servo motor moves in a different direction from the command direction, the STO function is executed.


Safely-limited increment

This function monitors the travel distance of the servo motor not to deviate from the specified range.
If the travel distance exceeds the range, the STO function is executed.

Safely-limited torque(SLT)

Safely-limited torque

This function monitors the torque (or the thrust) of the servo motor not to deviate from the specified range. If the torque (or the thrust) exceeds the range, the STO function is executed.

    : Function activation area

Supporting Flexible Driving System

Supporting Fully Closed Loop Control as Standard J5-GJ5W2-GJ5-A

Supporting Flexible Driving System

Supporting a fully closed loop control system *1 as standard, MR-J5-G/MR-J5W2-G/MR-J5-A servo amplifiers enable further precise positioning.

  • *1. MR-J5-G/MR-J5W2-G/MR-J5-A servo amplifiers are compatible only with two-wire type serial encoders. For four-wire type serial and pulse train interface (A/B/Z-phase differential output type) encoders, use MR-J5-G-RJ/MR-J5-A-RJ.

Scale Measurement Function J5-GJ5W2-G

Scale Measurement Function

The scale measurement function of MR-J5-G/MR-J5W2-G servo amplifiers *1 enables to transmit position information of a scale measurement encoder to the controller when the scale measurement encoder is connected in semi closed loop control. The data of linear or scale measurement encoders are transmitted to the servo system controller via the servo amplifier, resulting in less wiring.

  • *1. Use the servo amplifiers (MR-J5-G/MR-J5-G-RJ/MR-J5W2-G) compatible with the scale measurement encoder.

Compliance with SEMI-F47

MELSERVO-J5 series servo amplifiers comply with SEMI-F47 standard *1 for semiconductors and FPD manufacturing systems. (SEMI-F47 is not applicable to 1-phase 200 V AC and DC input.)

  • *1. The control power supply of the servo amplifiers complies with SEMI-F47. Note that the backup capacitor may be required depending on the power impedance and operating situation for the instantaneous power failure of the main circuit power supply. Be sure to perform a test on your machine to meet the SEMI-F47 Voltage Sag Immunity Standard. Please use the 3-phase power supply for the servo amplifier input.

Touch Probe Function J5-G-RJJ5W2-GJ5W3-G

Touch Probe Function

MR-J5-G-RJ/MR-J5W2-G/MR-J5W3-G servo amplifiers can latch a position feedback value when the probe detects a target. The latched position feedback value read by the controller can be used for measurements and alignment. The touch probe supports the latch accuracy of 1 μs.

Command Interface


The servo amplifiers drive the servo motors by receiving commands (position/velocity/torque) at regular intervals in synchronous communication with the CC-Link IE TSN-compatible controller.
When combined with a Motion module or Motion Control Software, the servo amplifiers enable exact synchronous operation of axes and machines through high-speed, high-precision time synchronization.
The servo amplifiers support CiA 402 drive profile and enable the profile mode (position/velocity*2/torque*2) in addition to the cyclic synchronous mode (position/velocity/torque). When combined with the controllers supporting the profile mode, the servo amplifiers generate a positioning command to a target position, reducing loads of the controllers.


  • *1 The communication cycle of ≥ 31.25 μs is applicable when MR-J5-G is combined with RD78GH.
  • *2 The profile modes (velocity/torque) are not supported by MR-J5W2-G/MR-J5W3-G.

General-Purpose Interface J5-A

General-Purpose Interface

Pulse trains and analog input are used as the command interface. The control mode can be switched between position/speed/torque control modes. When an open collector is used, both sink and source inputs are enabled.

EtherCAT® J5-G-N1 J5W2-G-N1 J5W3-G-N1

Encoder Communication Diagnosis

EtherCAT®-compatible servo amplifiers are available, enabling higher-performance MR-J5 servo amplifiers with enhanced functions on the EtherCAT® system. MR-J5-G-RJN1/MR-J5W2-G-N1/MR-J5W3-G-N1 support the touch probe. (Latch accuracy: 1 μs )

Communication specification CANopen over EtherCAT® (CoE)
Drive profile CiA 402
Communication cycle *1 125 μs, 250 μs, 500 μs,
1 ms, 2 ms, 4 ms, 8 ms
Control mode Cyclic synchronous position mode (csp)
Cyclic synchronous velocity mode (csv)
Cyclic synchronous torque mode (cst)
Profile position mode (pp)
Profile velocity mode (pv) *2
Profile torque mode (tq) *2
Homing mode (hm)
  • *1. The minimum communication cycle varies by the model type.
  • *2. The control modes (pv/tq) are not supported by MR-J5W2-G-N1/MR-J5W3-G-N1.