US Assistant Secretary of State Kurt Campbell is reported to have asked the three countries to condemn the launch.
Japan is readying anti-missile defences around the southern islands of Okinawa, which could be under the flight path.
The launch is expected to dominate a security summit on Monday in the South Korean capital Seoul, which will be attended by US President Barack Obama.
Australia's Sydney Morning Herald said Mr Campbell had briefed Australian Foreign Minister Bob Carr on Friday on the rocket's southward trajectory.
"We have never seen this trajectory before. We have weighed into each of these countries and asked them to make clear that such a test is provocative and this plan should be discontinued."
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