Mitsubishi Electric MELSERVO-J2S Series Transition Handbook page 468

[Appendix 1] Summary of MR-J4_B_-RJ020 + MR-J4-T20
POINT
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].
The fully closed loop system is enabled only in J2S compatibility mode.
The fully closed loop system function can be used for servo amplifiers or drive
units with the following software versions.
A4 or later for 7 kW or less
A6 or later for 11 kW or more
In the fully closed loop system, the following cable can be used for the servo
motor encoder:
Two-wire type for software version A4 or later
Two-wire and four-wire types for software version A6 or later
Appendix 1-5