MELSERVO-J5 Series Servo Amplifiers
MR-J5-G(4) *1
Supports Ethernet-based CC-Link IE TSN, featuring high-speed, large-capacity communication (1 Gbps). Communication cycle of ≥ 31.25 μs and speed frequency response of 3.5 kHz enable advanced motion control.
MR-J5W2-G
MR-J5W3-G
Drives a maximum of two/three servo motors. This simplifies wiring, saves energy, and enables a compact machine.
MR-J5D1-G4 *1
MR-J5D2-G4
MR-J5D3-G4
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.
- *1. MR-J5-G(4)/MR-J5D1-G4 are also compatible with CC-Link IE Field Network Basic.
General purpose interface
MR-J5-A(4)
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.
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.
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.
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.
Energy/Space Saving and Simple Wiring (200 V Class)
Simple Converter MR-CM
The MR-CM simple converter saves energy by efficiently using regenerative power through a common bus connection and reduces the number of molded-case circuit breakers and magnet contactors, resulting in space-saving and simple wiring. The simple converter can connect to up to six compatible servo amplifiers having a total capacity of 3 kW or lower.
Using daisy connectors for passing wiring simplifies the wiring for the bus and the control circuit power supply.
- * The simple converter is also supported by MR-J5-B and MR-J5-A.
Multi-Axis Servo Amplifiers J5W2-GJ5W3-G
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. 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.
Converter Separate Type Drive Unit in 400 V Class MR-J5D-G4
- The product lines of the 400 V include converter separate type drive units of MR-J5D-G4 available in 1-axis/2-axis/3-axis types.
- Combined with an MR-CV_4 power regeneration converter unit, MR-J5D-G4 can configure a servo system with energy and space savings and less wiring.
- MR-J5D-G4 supports safety communication of CC-Link IE TSN, enabling functional safety without a dedicated unit. Even for a multi-axis servo system, functional safety can also be applied with network cables.
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. The safety communication of CC-Link IE TSN enables the safety sub-functions such as STO to be set for each axis of the multi-axis drive units.
- 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 offer space saving.
For example, two units of 3-axis drive units for operating six axes occupy 200 mm less installation width than six units of 1-axis drive units.
In addition, using multi-axis drive units reduces the number of molded-case circuit breakers and magnetic contactors.
Energy-Saving with 400 V Class Systems
Further Energy-Saving with Common DC Bus Connection and Power Regeneration System J5D-G4
Connecting multiple MR-J5D-G4 drive units to an MR-CV_4 power regeneration converter unit by a common DC bus connection allows the drive units to use regenerative energy from the other drive units on the connection.
Furthermore, the MR-CV_4 power regeneration converter unit has a power regeneration system which returns the regenerative energy to the power supply. Other systems can use this returned regenerative energy for operation, promoting efficient energy use.
A system with MR-CV_4 does not require a regenerative option and thus reduces heat generation.
400 V Servo Amplifiers Providing New Combinations with Servo Motors
The 400 V class servo amplifiers can drive the HK-KT/HK-ST/HK-RT series servo motors ranging 50 W to 7 kW. The flexible combination can optimize your machines. For the available combinations, refer to "Combinations of Servo Motors and Servo Amplifiers"
Motor flange size [unit: mm]
Predictive Maintenance
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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 (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
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)
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
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
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.
Connection/Communication Diagnosis
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.
MR-J5D-G4 drive units support only output open-phase detection.
Servo Motor Incorrect Wiring Detection J5W2-GJ5W3-G
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 the 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
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.
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.
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.
Safety Sub-Functions
Built-In Safety Functions and a Wide Range of Safety Sub-Functions J5-G-RJ J5D-G4
MR-J5-G-RJ/MR-J5D-G4 have a built-in safety control part, supporting safety sub-functions without a dedicated unit. Combining the servo amplifiers with HK-_WS servo motors with functional safety further enhances the safety level.
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.
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 Function via CC-Link IE TSN J5-G-RJ J5D-G4
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-G-RJ/MR-J5D-G4 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
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.
- STO shuts off the power to the servo motor without turning off the control circuit power supply of the servo amplifier, thus shortening the restart time and eliminating the need for homing.
- A magnetic contactor for preventing unexpected motor start is not needed.*1
| Servo amplifier model |
Safety level |
MR-J5-G/MR-J5-B/MR-J5-B-RJ/
MR-J5-A/MR-J5-A-RJ |
Category 3 PL e, SIL 3 |
MR-J5-G-RJ/MR-J5W2-G/
MR-J5W3-G/MR-J5D-G4 |
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
MR-J5-G-RJ/MR-J5D-G4 support safety sub-functions, STO/SS1/SS2/SOS/SBC/SLS/SSM/SDI/SLI/SLT.
Refer to "Safety Sub-Functions" in section 1 of MELSERVO-J5 catalog 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
(STO)
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
(SS1)
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
(SS2)
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
(SOS)
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
(SBC)
The SBC signals are outputted for external brake control.
Safely-limited speed
(SLS)
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
(SSM)
The SSM signals are outputted when the speed of the servo motor is below the specified speed limit.
Safe direction
(SDI)
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
(SLI)
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)
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
Fully Closed Loop Control J5-GJ5W2-GJ5D1-G4J5D2-G4J5-BJ5-A
Supporting a fully closed loop control system *1 as standard, MR-J5-G/MR-J5W2-G/MR-J5D1-G4/MR-J5D2-G4/MR-J5-B/MR-J5-A servo amplifiers enable further precise positioning.
- *1. MR-J5-G/MR-J5W2-G/MR-J5-B/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-J5D1-G4/MR-J5-B-RJ/MR-J5-A-RJ.
Scale Measurement Function J5-GJ5W2-GJ5D1-G4J5D2-G4J5-B
The scale measurement function transmits scale measurement data of a scale measurement encoder to a controller via network when the scale measurement encoder such as a linear or rotary encoder is connected to a servo amplifier.
This function enables flexible wiring from the scale measurement encoder.
Servo amplifiers supporting the scale measurement function
Touch Probe Function J5-GJ5W2-GJ5W3-GJ5D-G4
When a touch probe (sensor) that detects the position of workpieces is connected to a servo amplifier, the touch probe function latches (stores) the position detected by the touch probe. The controller reads and uses the latched value for position correction. The latch accuracy of this function is 1 μs.
Servo amplifiers supporting the touch probe function
- *1. Use MR-J5-G manufactured in June 2021 or later.
Note that, depending on the stock status, the servo amplifiers with both the former and the new specifications may be distributed in the market around the same time. Contact the local sales office when the touch probe function is needed.
Positioning by Using a CC-Link IE TSN-Compatible RJ71GN11-T2
An RJ71GN11-T2 master/local module that supports CANopen can control the servo amplifiers. *1 The servo amplifiers support both the profile mode (position/velocity *2/torque *2) and the positioning mode (point table). *3
With these operation modes, a positioning system can be simply configured without a Positioning module. In the profile position mode, for example, the target positions and speeds can be set from the master station.
The servo amplifier generates commands to the target positions with a start signal and starts positioning operations.
- *1. RD78G/FX5-SSC-G Motion modules also support CANopen.
- *2. The profile modes (velocity/torque) are not supported by MR-J5W2-G/MR-J5W3-G/MR-J5D2-G4/MR-J5D3-G4.
- *3. For the modes supported by the master station, refer to the master station specifications.
Driver Communication Function J5-GJ5D1-G4J5-BEnhanced functions
The controller controls the master axis by using the driver communication function of the servo amplifiers. The servo amplifier of the master axis transmits the torque data to the other servo amplifiers on the same network, and the others also drive the servo motors on the basis of the torque data transmitted from the master axis. The data is transmitted via network, and thus no special wiring is necessary.
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 input, DC input, and MR-J5D-G4.)
- *1. The control circuit 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.
Command Interface
CC-Link IE TSN J5-GJ5W2-GJ5W3-GJ5D-G4
The servo amplifiers receive commands (position/velocity/torque) from a CC-Link TSN-compatible controller at regular intervals through synchronous communication and drive the servo motors.
When combined with a Motion module or Motion Control Software, the servo amplifiers perform 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) and the positioning mode (point table).
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/MR-J5D1-G4 are combined with RD78GH.
- *2 The profile modes (velocity/torque) are not supported by MR-J5W2-G/MR-J5W3-G/MR-J5D2-G4/MR-J5D3-G4.
SSCNET III/H J5-B
Replacement of the servo amplifiers in the existing system with MR-J5-B is possible, which enables the MELSERVO-J5 series servo system to be configured with the use of the existing programs of the servo system controller.
Engineering software and "Transition from MELSERVO-J4 Series to J5 Series Handbook" are available to support the replacement.
CC-Link IE Field Network Basic J5-G J5D1-G4
CC-Link IE Field Network Basic-compatible master stations such as an FX5U CPU module can control MR-J5-G/MR-J5D1-G4 servo amplifiers. The servo amplifier can be operated as a CANopen device via a link device.
The profile mode (position/velocity/torque) and the positioning mode (point table) are supported.
MR-J5-G servo amplifiers can be connected to existing systems using MR-J4-GF.
In addition, MR-J5-G/MR-J5D1-G4 newly supports the line topology. *1
- *1 When a device which does not support the line topology is used, the line/star mixed topology is applicable.
General-Purpose Interface J5-A
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 J5D-G4-N1
EtherCAT®-compatible servo amplifiers are available, enabling
higher-performance MR-J5 servo amplifiers with enhanced
functions on the EtherCAT® system.
MR-J5-G-N1 *3/MR-J5-G-RJN1/MR-J5W2-G-N1/MR-J5W3-G-N1/MR-J5D-G4-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/MR-J5D2-G4-N1/MR-J5D3-G4-N1.
- *3. Use MR-J5-G-N1 manufactured in June 2021 or later. Note that, depending on the stock status, the servo amplifiers
with both the former and the new specifications may be distributed in the market around the same time. Contact the
local sales office when the touch probe function is needed.