Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 480

[Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20
9. SAFETY PRECAUTIONS
9.1 Replacing MR-J2S-_B_ Servo Amplifier with MR-J4-_B_-RJ020 Servo Amplifier
Note the following when replacing the MR-J2S-_B_ servo amplifier with the MR-J4-_B_-RJ020 servo
amplifier.
(1) The capacity of mounting holes differs. For compatibility of mounting holes, refer to "[Appendix 1] 11.1
Comparison of Dimensions".
(2) The dimensions of the MR-J4-_B_-RJ020 servo amplifier combined with MR-J4-T20 may be larger than
the MR-J2S-_B_ servo amplifier. Refer to "[Appendix 1] 11.1 Comparison of Dimensions".
(3) The wire size may differ from that of the MR-J2S-_B_ servo amplifier. Refer to "Part 9: Review on
Replacement of Optional Peripheral Equipment 4. Wire Size".
(4) If the HG series servo motor is used in J2S compatible mode, the encoder resolution per rotation of the
servo motor is not 4194304 pulses/rev (22 bit) but becomes 131072 pulses/rev (17 bit).
(5) When using the HG series servo motor at the maximum torque, set the torque limit to 500% on the servo
system controller. When setting the maximum torque in test operation mode, change the setting of [Pr.
10 Forward rotation torque limit] and [Pr. 10 Reverse torque limit] to 500 %.
(6) Operation without motor through the setup software (SETUP161E) cannot be used. When operating
motor, set [Pr. 24] to "_ 1 _ _".
(7) When using [Pr. 13 Position control gain 1] of the MR-J4-_B_-RJ020 servo amplifier and the MR-J2S-
_B_ servo amplifier together in interpolation mode, etc., check the droop pulses of each shaft and
readjust the gain as necessary.
(8) The MR-J4-_B_-RJ020 servo amplifier with software version A9 or later is compatible with adaptive
vibration suppression control. Set [Pr. 25] of the MR-J4-_B_-RJ020 servo amplifier with software version
A8 or earlier, to "00 _ _" (Adaptive vibration suppression control disabled). When using adaptive
vibration suppression control with the MR-J2S-_B_ servo amplifier, manually set [Pr. 18] Machine
resonance suppression filter 1 using the machine analyzer function of MR Configurator.
Setting [Pr. 25] to "1_ _ _", "_ 1 _ _", or "_ 2 _ _" for the MR-J4-_B_-RJ020 servo amplifier with software
version A8 or earlier will cause [AL. 37 Parameter error].
Setting [Pr. 25] to "1_ _ _" or "_ 2 _ _" for the MR-J4-_B_-RJ020 servo amplifier with software version A9
or later will cause [AL. 37 Parameter error].
(9) The connector for SSCNET cable connection cannot supply power to the encoder. When using with
the absolute position sensor detection system, make sure to connect the battery to the CN4 connector
of the MR-J4-_B_-RJ020 servo amplifier.
Appendix 1-17