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Supported EtherCAT Slave Device

MR-J5 Series
AC Servo drives

Oct 20, 2020

Country of Origin




Node Type

Servo Drives

Output Current

1 – 6 Amps, 7 – 24 Amps, 25 – 72 Amps

Input Voltage

100 – 240 VAC, 240 – 480 VAC

Special Features



Servo Drive for demanding tasks with axis and NC synchronization.



  • EtherCAT Max. 100Mbps transfer rate
  • 2-axis closed-loop stepper drive
  • K221 : Current 1.8A / axis
  • Bi-polar current driving system
  • Resolution : 500~50,000 pulse / revolution
  • Encoder feedback
  • DIP switch for address setting
  • Dimensions : L-75 x W-140 x H-47 mm



Serial Interface Fast Ethernet, Full-Duplex
Distributed clock 0.5 / 1 / 2 / 4 ms
Cable type CAT5 UTP / STP Ethernet cable
Surge protection 10KV
Transmission speed 100 Mbps
CiA402 device profile CSP, PP, Home
Incremental encoder input ±EA x2, ±EB x2
Encoder index signal input ±EZ x2
MI/O input signal PEL x2, MEL x2, ORG x2, and EMG x2
User I/O signal 4DI, 2DO
Position control Incremental / Absolute mode
Data range: 32 bits
Homing mode ORG, EZ, Limit & totally 31 types



Input voltage 24VDC
Drive model 2-phase, bi-polar current driving system
Resolution 500 ~ 50,000 pulse / revolution configured by software
Current setting 1.8A / axis.
Power consumption 3.1W typical (130mA / 24VDC) no load
Ambient temperature In use: 0~50℃
In storage: -20~70℃
Humidity In use: 35~85% (Noncondensing)
In storage: 10~90% (Noncondensing)
Vib. resist 0.5G

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.

Reduced Energy & Max Space with Wiring

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.

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)

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

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

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 of this 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.

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.


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)

Learn about our PC-based motion controller to use with this node

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