Mitsubishi Electric MELSERVO-J2S Series User manual

MR-J2S Renewal Tool for
Mitsubishi General-purpose AC Servo
Manual for Replacement from
MELSERVO-J2S Series Using MR-J2S
Renewal Tool
Thank you for purchasing Mitsubishi MR-J2S Renewal Tool (hereinafter, referred to as the
renewal tool).
To use the renewal tool correctly and safely, please read this document well before use,
and sufficiently understand its functions and performance.
Notes
1. All rights reserved.
2. The information in this document is subject to change without notice.
3. In some cases where this renewal tool is used, all functions may not be compatible
with those of MR-J2S Servo.
4. If the positioning module (Model A1SD75P), high-speed counter (Model A1SD61) or
servo system controller is used, it may be required to change the existing wiring
to prevent noise depending on the existing situation.
5. When using the renewal tool, you must read this document and“Guide for Replacing
MR-J2S/J2M Series with J4 Series L(NA)03093”issued by Mitsubishi Electric
Corporation. Prepare the manual in advance.

A-1
Safety Instructions
Please read the instructions carefully before using the equipment.
To ensure correct usage of the equipment, make sure to read through this Replacement Manual, the
Instruction Manual, the installation guide, and the appended documents carefully before attempting to install,
operate, maintain, or inspect the equipment. Do not use the equipment until you have a full knowledge of the
equipment, safety information and instructions.
In this Replacement Manual, the safety instruction levels are classified under "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resultin
g
in death or severe in
j
ur
y
.
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates prohibition (what must not be done). For example, "No Fire" is indicated by .
Indicates obligation (what must be done). For example, grounding is indicated by .
In this Replacement Manual, instructions of a lower level than the above, such as those that do not cause
physical damage or instructions for other functions, are classified under "POINT".
After reading this Instruction Manual, keep it accessible to the operator.
A－1

A-2
1. To prevent electric shock, note the following
WARNING
●Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise,
an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always
confirm it from the front of the servo amplifier.
●Ground the servo amplifier and servo motor securely.
●Any person who is involved in wiring and inspection should be fully competent to do the work.
●Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
●Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
●The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
●During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
●Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.
●Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
●To prevent electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
●When using a residual current device (RCD), select the type B.
●To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
●Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to a fire.
●Always connect a magnetic contactor between the power supply and the main circuit power supply
(L1/L2/L3) of the servo amplifier in order to configure a power supply shut-off on the side of the servo
amplifier's power supply. If a magnetic contactor is not connected, continuous flow of a large current may
cause a fire when the servo amplifier malfunctions.
●When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a
fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.
●Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier and servo motor.
●Always connect a molded-case circuit breaker to the power supply of the servo amplifier.
3. To prevent injury, note the following
CAUTION
●Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
●Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
●Ensure that the polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
●The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the
parts (cables, etc.) by hand. )
A－2

A-3
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, etc.
(1) Transportation and installation
CAUTION
●Transport the products correctly according to their mass.
●Stacking in excess of the specified number of product packages is not allowed.
●Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop.
●Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
●Do not get on or put heavy load on the equipment.
●The equipment must be installed in the specified direction.
●
Secure the prescribed distance between the servo amplifier and the inner surface of the cabinet or other devices.
●Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts
missing.
●Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction.
●Do not drop or strike the servo amplifier and servo motor. Isolate them from all impact loads.
●When you keep or use the equipment, please fulfill the following environment.
Item Environment
Operation 0 C to 55 C (non-freezing)
Ambient
temperature Storage -20 C to 65 C (non-freezing)
Operation
Ambient
humidity Storage 90 %RH or less (non-condensing)
Ambience Indoors (no direct sunlight) and free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, 10 to 55 Hz (Each direction of X, Y, and Z)
●
Contact your local sales office if the product has been stored for an extended period of time.
● When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier.
●The servo amplifier must be installed in a metal cabinet.
●Take sterilization and insecticide measures other than fumigation for the wood packing material. If a servo
amplifier is packed with wood packing material that has been smoked or fumigated, halogenated material
contained in the fumigant (such as fluorine, chlorine, bromine, and iodine) may cause the servo amplifier to
malfunction.
●Therefore, because a malfunction may occur, avoid using the servo amplifier in an environment where the
servo amplifier coexists with parts containing halogenated flame retardants (such as bromine).
A－3

A-4
(2) Wiring
CAUTION
●Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
●Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the output side of
the servo amplifier.
●Because installation of these items may cause the servo motor to malfunction, connect the wires to the
correct phase terminals (U/V/W) of the servo amplifier and servo motor power supply.
●Directly connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W). Do not
let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
Servo motor
M
V
W
U
V
W
Servo amplifier Servo amplifier
●The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM
Control
output signal
DC24 V
Servo amplifier
RA
For sink output interface
DOCOM
Control
output signal
Servo amplifier
RA
For source output interfaces
DC24 V
●When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
●To avoid a malfunction, do not connect the U, V, W, and CN2 phase terminals of the servo amplifier to the
servo motor of an incorrect axis.
(3) Test run and adjustment
CAUTION
●Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
●Never perform extreme adjustment or changes to the parameters; otherwise, the operation may become
unstable.
●Do not close to moving parts at servo-on status.
(4) Usage
CAUTION
●Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
●Do not disassemble, repair, or modify the equipment.
A－4

A-5
CAUTION
●Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
●Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
●Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
●Use the servo amplifier with the specified servo motor.
●The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
●For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
●When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
●Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Servo motor
Electromagnetic
brake
B
U
RA
DC24V
Contacts must be opened with the AL
M
(malfunction) off or the MBR
(electromagnetic brake interlock) off.
Contacts must be opened with the EMG
stop switch.
●When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
●Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
(6) Maintenance, inspection and parts replacement
CAUTION
●With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a malfunction, it is recommend that the electrolytic capacitor be replaced every 10 years when it is
used in general environment. Please contact your local sales office.
(7) General instruction
●To illustrate details, the equipment in the diagrams of this Replacement Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with Instruction Manual.
A－5

A-6
Disposal of Waste
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the
EEP-ROM reaches the end of its useful life.
●Write to the EEP-ROM due to parameter setting changes
●Write to the EEP-ROM due to device changes
STO function of the servo amplifier
See the applicable "Servo Amplifier Instruction Manual" when using the STO function of the servo amplifier.
A－6

A-7
COMPLIANCE WITH CE MARKING
For compliance with CE marking, refer to "MELSERVO-J4 Series Instructions and Cautions for Safe Use of
AC Servos" (IB(NA)0300175) which packed with the servo amplifier.
COMPLIANCE WITH UL/CSA STANDARD
For conformity of UL/CSA standard, refer to "MELSERVO-J4 Series Instructions and Cautions for Safe Use
of AC Servos" (IB(NA)0300175) which packed with the servo amplifier.
COMPLIANCE WITH KC MARK
For compliance with KC mark, refer to "MELSERVO-J4 Series Instructions and Cautions for Safe Use of AC
Servos" (IB(NA)0300175) which packed with the servo amplifier.
«About the manual»
Information given in this manual and in the servo amplifier technical reference material issued by
Mitsubishi Electric Corporation is required when using the MR-J2S Renewal Tool for the first time. Please
do not attempt to use the MR-J2S Renewal Tool until this required information has been obtained and
referenced.
Relevant manuals
<For general-purpose interface (type A) information>
Manual name Manual No.
Mitsubishi MELSERVO-J2S Series General-Purpose AC Servo, The General-Purpose Interface, And
The MR-J2S-_A Servo Amplifier Technical Reference Material
SH(NA)030000
Mitsubishi MELSERVO-J4 Series General-Purpose AC Servo, The General-Purpose Interface, And The
MR-J4-_A Servo Amplifier Technical Reference Material
SH(NA)030103
<For SSCNET interface (Type B) information>
Manual name Manual No.
Mitsubishi MELSERVO-J2S Series General-Purpose AC Servo, The SSCNET Interface, And The MR-
J2S-_B Servo Amplifier Technical Reference Material
SH(NA)030001
Mitsubishi MELSERVO-J4 General-Purpose AC Servo
MR-J2S-B SSCNET Conversion Unit Compatibility
MR-J4-_-B-RJ020 Servo Amplifier Technical Reference Material
MR-J2S-B SSCNET Conversion Unit
MR-J4-T20 Technical Reference Material
SH(NA)030124
Mitsubishi MELSERVO-J4 General-Purpose AC Servo
MR-J2S-B SSCNET Conversion Unit
MR-J4-T20 Operation Manual
IB(NA)0300204
<Common>
Manual name Manual No.
Mitsubishi General-Purpose AC Servo, And The Servo Motor Technical Reference Material SH(NA)3180
Mitsubishi General-Purpose AC Servo, And The Servo Motor Technical Reference Material (Part 3) SH(NA)030099
Mitsubishi MELSERVO-J4 General-Purpose AC Servo, And The MR-J4 Servo Amplifier Technical
Reference Material (Troubleshooting Edition)
SH(NA)030108
A－7

A-8
MEMO
A－8

A-9
Contents
Section １ Functions and Configuration......................................... １-１
１.１ Outline ....................................................................... １-１
１.２ Supported Models .............................................................. １-１
１.３ Features ...................................................................... １-１
１.４ Comparison of Functions ....................................................... １-３
１.５ Renewal Tool Product Names .................................................... １-９
１.６ Renewal Tool Configuration .................................................. １-１１
１.７ List of Renewal Tool products ............................................... １-１３
Section ２ Selecting the MR-J2S Renewal Tool................................... ２-１
２.１ Basic Configuration ........................................................... ２-１
２.２ Precautions for Replacement ................................................... ２-１
２.３ Selecting the Product ......................................................... ２-２
２.３.１ Flow of Selection for Replacement ....................................... ２-２
２.４ Table of Replacement Combinations ............................................. ２-４
２.４.１ A Type Replacement Combination Table .................................... ２-４
２.４.２ B Type Replacement Combination Table .................................. ２-１５
２.５ Renewal Tool Connection Diagram ............................................. ２-２７
２.５.１ SC-J2SJ4KT02K～3K..................................................... ２-２７
２.５.２ SC-J2SJ4KT5K.......................................................... ２-２９
２.５.３ SC-J2SJ4KT7K.......................................................... ２-３１
２.５.４ SC-J2SJ4KT15K、22K.................................................... ２-３３
２.５.５ SC-J2SBJ4KT02K～3K.................................................... ２-３５
２.５.６ SC-J2SBJ4KT5K......................................................... ２-３７
２.５.７ SC-J2SBJ4KT7K......................................................... ２-３９
２.５.８ SC-J2SBJ4KT15K、22K................................................... ２-４１
２.６ Specifications .............................................................. ２-４３
２.６.１ Standard Specifications ............................................... ２-４３
２.６.２ Terminal Block Specifications ......................................... ２-４３
２.６.３ Recommended 24VDC Power Supply Specifications for Interface ........... ２-４４
２.６.４ Servo Amplifier Initialization Time ................................... ２-４５
２.６.５ Z-phase Pulse Width (for Primary Replacement) ......................... ２-４７
２.６.６ Setting the Command Pulse Logic ....................................... ２-４８
２.６.７
When You Use an Encoder Cable Longer than 50m in Cable Length for a Long Wiring .... ２-４９
２.７ Precautions for Using Optional/Peripheral Modules ........................... ２-５０
Section ３ How to Replace MR-J2S Renewal Tool.................................. ３-１
３.１ Replacement Procedure .........................................................３-１
３.２ Checking the Accessories ......................................................３-１
３.３ Replacing Renewal Kit ......................................................... ３-２
３.３.１ Precautions for Assembling Renewal Kit..................................３-２
３.３.２ Assembling SC-J2S(B) J4KT02K/06K ........................................３-３
３.３.３ Assembling SC-J2S(B) J4KT1K........................................... ３-１３
３.３.４ Assembling SC-J2S(B) J4KT3K........................................... ３-１８
３.３.５ Assembling SC-J2S(B) J4KT5K........................................... ３-２４
３.３.６ Assembling SC-J2S(B) J4KT7K........................................... ３-２７
３.３.７ Assembling SC-J2S(B) J4KT15K, 22K..................................... ３-３０
３.４ Combination of Cables...................................................... ３-３７
Section ４ Starting Up the System ............................................. ４-１
４.１ When You Turn On the System for the First Time ................................ ４-１
４.１.１ Steps to Start Up the System ............................................ ４-１
４.１.２ Ambient Environment ..................................................... ４-２
４.２ Setting Up Parameters ......................................................... ４-３
４.２.１ Table of the Parameters You Need to Set Up - Type A ..................... ４-３
A－9

A-10
４.２.２ Table of the Parameters You Need to Set Up - Type B ..................... ４-６
４.３ Troubleshooting at a Startup .................................................. ４-７
４.３.１ In the Case of Type A...................................................４-７
４.３.２ In the Case of Type B...................................................４-９
Section ５ Parameters ......................................................... ５-１
５.１ Parameter Comparison Table .................................................... ５-１
５.１.１ A Type Parameter Comparison Table ....................................... ５-１
５.１.２ B Type Parameter Comparison Table ....................................... ５-３
Section ６ Troubleshooting .................................................... ６-４
６.１ What to Do When an Alarm Occurs ............................................... ６-４
６.２ Noise Prevention Measures ..................................................... ６-６
Section ７ Outline Dimensions ................................................. ７-１
７.１ Renewal Kit ................................................................... ７-１
７.２ Conversion Cable .............................................................. ７-９
７.２.１ Conversion Cable for Amplifier.......................................... ７-９
７.２.２ Conversion Cable for Motor Power ...................................... ７-１１
７.２.３ Conversion Cable for Motor Encoder .................................... ７-１２
７.２.４ Conversion Cable for Motor Cooling Fan ................................ ７-１２
A－10

１-１
Section 1 Functions and Configuration
１.１ Outline
The MR-J2S renewal tool is a tool to replace the presently used MR-J2S servo amplifier with the MR-J4 servo
amplifier. The company is prepared to provide a renewal kit compatible with the existing mounting dimensions and
terminal block cables, and a conversion cable compatible with the existing cables.
１.２ Supported Models
Type Former model Replacement model
General-purpose interface
(Hereinafter referred to as
A type)
MR-J2S-_A (_: 10 to 22K) MR-J4-_A (_: 10 to 22K)
SSCNET
Interface
(Hereinafter referred to as
B type)
MR-J2S-_B (_：10 to 22K)
→MR-J4-_B-RJ020 (_: 10 to 22K)
＋
MR-J4-T20
１.３ Features
• It is possible to operate the exiting MR-J2S servo motor with the MR-J4 servo amplifier.
• Wiring work can be shortened because the existing cables can be connected as they are.
• The renewal kit can be mounted using the existing mounting holes.
• The existing space can be effectively used by adopting the sliding mechanism for the renewal kit. (For some
models)
• By utilizing the renewal tool, it is possible to replace by proceeding in stages from primary replacement to
secondary replacement.
Primary replacement: Replace the servo amplifier only.
Secondary replacement: Replace the servo motor after replacement of the servo amplifier.
Package replacement: Replace the servo amplifier and the servo motor simultaneously.
* It is not possible to replace the servo motor only.
* A separate 24 V DC power supply (current capacity: 80 mA or more) for the interface is required when
the internal power supply for the interface is used for the MR-J2S servo amplifier. Must be provided by
the customer. (Not included with the renewal tool.)
1－1

１-２
(1) MR-J2S-_A_type renewal tool
MR-J2S-_A_type servo amplifier
and servo motor for MR-J2S
[Before replacement]
<Secondary replacement>
<Package replacement>
[After replacement]
When replacing the servo motor after replacing the servo amplifier
When replacing the servo amplifier and the servo motor simultaneously
<Primar
y
re
p
lacement> When replacing the servo amplifier only
Servo motor for MR-J2S
Servo motor for MR-J4
1－2

１-３
(2) MR-J2S-_B_type renewal tool
MR-J2S-_B_type servo amplifier
and Servo motor for MR-J2S
[Before replacement]
<Secondary replacement>
<Package replacement>
[After replacement]
When replacing the servo motor after replacing the servo amplifier
When replacing the servo amplifier and the servo motor simultaneously
<Primary replacement> When replacing the servo amplifier only
Servo motor for M
R
-J2S
Servo motor for MR-J4
1－3

１-４
１.４ Comparison of Functions
MR-J2S / MR-J4 function comparison table
(1) Common items *When the renewal tool is used.
Item MR-J2S series MR-J4 series Renewal
tool usage times
Compatibility
(*)
Remarks
Capacity range 0.1 to 22 kW (200 V) 0.1 to 22 kW (200 V) 0.1 to 22 kW (200 V)  (Note
1)
Dynamic
brakes
Built-in (0.1 kW to 7 kW)
External (11 kW to 22 kW)
Built-in (0.1 kW to 7 kW)
External (11 kW to 22 kW)
* Coasting distance is different.
(Note
2)
Internal
regenerative
resistor
Built-in (0.2 kW to 7 kW)
External (11 kW to 22 kW)
Built-in (0.2 kW to 7 kW)
External (11 kW to 22 kW)  (Note 3)
Control circuit
power supply
Single-phase 200 V AC to 230 V
AC
Single-phase 200 V AC to 240V
AC 
Main circuit power Single-phase/3-phase 200 V AC
to 230 V AC
Single-phase/3-phase 200 V AC
to 240 V AC 
Interface
24 V DC power
supply
Built-in External supply required External supply
required × (Note 4)
Control circuit power/
regenerative resistor
terminal connection
method
0.1 to 1 kW: Plug-in type
connector
2 kW or more: Terminal block
0.1 to 3.5 kW: Plug-in type connector
5 kW or more: Terminal block
With terminal block
conversion 
Main circuit power
terminal
connection method
Terminal block 0.1 to 3.5 kW: Plug-in type connector
5 kW or more: Terminal block
With terminal block
conversion
(excluding 5 kW)

Auto
tuning
Real-time auto
Tuning:15 grades
Real-time auto
Tuning: 40 grades
One-touch tuning

Advanced
vibration
suppression
control II
Unprovided Provided 
Adaptive
filter Provided (I) Provided (II: with improved function) 
Notch filter Provided (2 pcs.) Provided (5 pcs.) 
Tough drive Unprovided Provided 
Drive recorder Unprovided Provided 
Restart after
instantaneous
power failure
Supported None ×
(Note
5)
Servo amplifier
Cooling method Self cooling (0.1 to 1 kW)
Strong cooling (2 to 22 kW)
Self cooling (0.1 to 0.6 kW)
Strong cooling (0.7 to 22 kW) (Note
6)
: Compatible; : Limited functions or compatible with certain conditions; ×: Incompatible
(2) A type *When the renewal tool is used.
Item MR-J2S series MR-J4 series Renewal
tool usage times
Compatibility
(*)
Remarks
Control mode
• Position control mode (pulse command)
• Speed control mode (analog command)
• Torque control mode (analog command)
• Position control mode (pulse command)
• Speed control mode (analog command)
• Torque control mode (analog command)

7 kW
or
less
Control signal (CN1A,
CN1B) 2 pcs.
Encoder signal (CN2), 1 unit
Monitor signal (CN3), 1 unit
Control signal/
encoder signal/
Monitor signal
Connector 11 to
22
kW
Control signal (CN1A,
CN1B) 2 pcs.
Encoder signal (CN2), 1 unit
Communication connector
(CN3) 1 pc.
Monitor signal (CN4), 1 unit
Control signal (CN1), 1 unit
Encoder signal (CN2), 1 unit
Monitor signal (CN6), 1 unit
*Different connector shape
With conversion
cable 
Maximum input
pulses
Differential pulse 500 kpps
Open-collector 200 kpps
Command pulse: Sink
Differential pulse 4 Mpps
Open-collector 200 kpps
Command pulse: Sink

Servo amplifier
Command pulse
logic setting
Forward/reverse rotation pulse train
Signed pulse train
A-phase/B-phase pulse train
Forward/reverse rotation pulse train
Signed pulse train
A-phase/B-phase pulse train
(Note
7)
: Compatible; : Limited functions or compatible with certain conditions; ×: Incompatible
See page 1-7 for important points to note.
1－4

１-５
Continued from previous page *When the renewal tool is used.
Item MR-J2S series MR-J4 series Renewal
tool usage times
Compatibility
(*)
Remarks
8 points 9 points 
SON reception time
After power-up, 2 s at maximum
SON reception time
After power-up, 3.5 s at
maximum
(Note
8)
DI signal
Forced stop: EM1 (DB stop)
Forced stop: EM1(DB stop)/
Possible to select EM2
(deceleration stop)
(Note
9)
6 points 6 points 
ALM: After power-up,
the output is on in 1 s at most
ALM: ALM: After power-up,
the output is on in 3.5 s at most (Note
10)
DO signal Alarm code output
ACD0 (Pin CN1A-19), 1st digit
ACD1 (Pin CN1A-18), 2nd digit
ACD2 (Pin CN1B-19) 3rd digit
Alarm code output
ACD0 (Pin CN1-24), 1st digit
ACD1 (Pin CN1-23), 2nd digit
ACD2 (Pin CN1-22), 3rd digit
Unsupported ×
(Note
11)
DIO
Interface
Input: Sink/source
Output: Sink Input/Output: Sink/source 
Encoder
Pulse output
ABZ-phase (differential)
Z-phase (open-collector)
ABZ-phase (differential)
Z-phase (open-collector) (Note
12)
Absolute position
detection system
PC →ABS transfer mode
TL →ABS request
PC →ABS transfer mode
TL →ABS request 
Parameter
Setting method
MR Configurator (SETUP161E)
Communication method: RS-232
Push-button
MR Configurator2
Communication method: USB
Push-button
(Note
13)
RS-422/232
Communication
function
RS-422/232 serial
communication function
RS-422 serial communication
function Unsupported ×
(Note
14)
Analog
monitor input
Input: 2 ch; 10-bit torque;
14-bit speed or equivalent
Input: 2 ch; 10-bit torque;
14-bit speed or equivalent 
Servo amplifier
Analog
monitor output
2 ch (0 to ±10 V); 10-bit
resolution or equivalent
[Monitor signal]
• Servo motor speed
(±8/max. speed)
• Torque (±8/max. torque)
• Current command
(±8/max. current command)
• Command pulse frequency
(±10 V/500 kpps)
• Droop pulses (±10 V / 128
pulses)
• Droop pulses (±10 V / 2048
pulses)
• Droop pulses (±10 V / 8192
pulses)
• Droop pulses (±10 V / 32768
pulses)
• Droop pulses (±10 V / 131072
pulses)
• Bus voltage (+8 V/400 V)
2 ch (0 to ±10 V); 10-bit
resolution or equivalent
[Monitor signal]
• Servo motor speed
(±8/max. speed)
• Torque (±8/max. torque)
• Current command (±8/max.
current command)
• Command pulse frequency
(±10 V/4 Mpps)
• Droop pulses (±10 V / 100
pulses)
• Droop pulses (±10 V / 1000
pulses)
• Droop pulses (±10 V / 10000
pulses)
• Droop pulses (±10 V / 100000
pulses)
• Feedback position
(±10 V/1 Mpulse)
• Feedback position
(±10 V/10 Mpulse)
• Feedback position
(±10 V/100 Mpulse)
• Bus voltage (+8 V/400 V)
• Speed command 2 (±8 V/max.
speed)
• Encoder inside temperature
(±10 V/128°C)
×
(Note
15)
(Note
16)
: Compatible; : Limited functions or compatible with certain conditions; ×: Incompatible
See page 1-7 for important points to note.
1－5

１-６
(3) B type *When the renewal tool is used.
Item MR-J2S series MR-J4 series Renewal
tool usage times
Compatibility
(*)
Remarks
Control mode • Position control mode
• Speed control mode
• Position control mode
• Speed control mode
• Torque control mode

Network SSCNET
SSCNET
(When the MR-J4-T20 SSCNET
conversion unit is used.)

7 kW
or
less
For SSCNET (CN1A,
CN1B) 2 pcs.
Encoder signal (CN2), 1
unit
Monitor signal (CN3), 1
unit
Control signal/
encoder signal/
Monitor signal
Connector
11 to
22 kW
For SSCNET (CN1A,
CN1B) 2 pcs.
Encoder signal (CN2), 1
unit
Communication connector
(CN3) 1 pc.
Monitor signal (CN4), 1
unit
Control signal (CON2), 1
unit
MR-J4-_B-RJ020 amplifier
• Encoder signal (CN2), 1 unit
• Monitor signal (CN3), 1 unit
MR-J4-T20 unit
• For SSCNET (CN10A, CN10B)
2 pcs.
*Different connector shape
With
conversion cable 
0 points 3 points 
SON reception time
After power-up, 3 s at maximum
SON reception time
After power-up, 4 s at maximum (Note 8)
DI signal
Forced stop: EM1 (DB stop)
Forced stop: EM1 (DB stop) /
Possible to select EM2
(deceleration stop)
(Note
9)
DO signal 2 points 3 points 
DIO
Interface
Input: Sink/source
Output: Sink Input/Output: Sink/source 
Encoder
Pulse output ABZ-phase (differential) ABZ-phase (differential) (Note 12)
Parameter
Each/
common
MR Configurator (SETUP161E)
Communication method: RS-232
MR Configurator (SETUP161E)
Communication method: RS-232
(When the MR-J4-T20 SSCNET
conversion unit is used.)
*A separate junction cable is
necessary.
(Note
17)
Servo amplifier
Analog
monitor output
2 ch (0 to ±10 V); 10-bit
resolution or equivalent
[Monitor signal]
• Servo motor speed
(±8/max. speed)
• Torque (±8/max. torque)
• Current command (±8/max.
current command)
• Speed command (±8/max.
speed)
• Droop pulses (±10 V / 128
pulses)
• Droop pulses (±10 V / 2048
pulses)
• Droop pulses (±10 V / 8192
pulses)
• Droop pulses (±10 V / 32768
pulses)
• Droop pulses (±10 V / 131072
pulses)
• Bus voltage (+8 V/400 V)
2 ch (0 to ±10 V); 10-bit
resolution or equivalent
[Monitor signal]
• Servo motor speed
(±8/max. speed)
• Torque (±8/max. torque)
• Current command (±8/max.
current command)
• Speed command (±8/max.
speed)
• Droop pulses (±10 V / 128
pulses)
• Droop pulses (±10 V / 2048
pulses)
• Droop pulses (±10 V / 8192
pulses)
• Droop pulses (±10 V / 32768
pulses)
• Droop pulses (±10 V / 131072
pulses)
• Bus voltage (+8 V/400 V)
×
(Note
15)
(Note
16)
: Compatible; : Limited functions or compatible with certain conditions; ×: Incompatible
See page 1-7 for important points to note.
1－6

１-７
<Precautions>
Note 1. The renewal tool is compatible with 0.1 to 22 kW (200 V).
2. Note that the coasting distance is different between the MR-J2S servo amplifier and the MR-J4 servo amplifier.
When DB assignment function is used for a servo amplifier of 11 kW or more,set the parameter as follows.
For A types, set PD27 as "0006".
For B types, set PD08 as "0006".
3. When replacing, some models cannot use the existing regenerative option. Provide regenerative options as necessary by
reselecting the capacity, including calculating the regenerative ability again. For details, refer to Part 7 of the "Guide for
Replacing MR-J2S / J2M L (NA) 03092" issued by Mitsubishi Electric Corporation.
4. A separate 24 V DC power supply (current capacity: 80 mA or more) for the interface is required when the internal
power supply for the interface is used for the MR-J2S servo amplifier. Must be provided by the customer. (Not included
with the renewal tool.)
5. There is no restart function in the MR-J4 servo amplifier during momentary power interruption. When replacing, if undervoltage
(AL 10.1 or AL 10.2) is generated by instantaneous power failure, reset the alarm (turn off the power once) and restart.
6. If the renewal kit is used, it is necessary to remove the renewal kit when replacing the servo amplifier cooling fan. Take care.
7. When replacing, it is necessary to adjust the command pulse train logic setting between the positioning module and the servo
amplifier. For details, see section 2.6.6.
8. This is the time between power-on and servo-on reception. Due to different reception times, sometimes review of the external
sequence is necessary upon replacement. For details, see section 2.6.4.
9. When replacing to the MR-J2S servo amplifier, it is necessary to set the parameters to EM1 (DB stop) (at the time of shipment
of the MR-J4 servo, the parameter is set to EM2 (deceleration stop)). For information regarding detailed parameter settings,
refer to the "Guide for Replacing MR-J2S / J2M L (NA) 03092" issued by Mitsubishi Electric Corporation.
•For A Type: Part 2, Section 3.5
•For B Type: Part 3, Section 3.7
10. This is the time until alarm signal output. Due to different reception times, sometimes review of the external sequence is necessary
upon replacement. For details, see section 2.6.4.
11.
Note that the renewal tool is not compatible with alarm code output.
12. Upon replacement, it is necessary to set the parameter for the encoder output pulses.
For information regarding detailed parameter settings, refer to the "Guide for Replacing MR-J2S / J2M L (NA) 03092"
issued by Mitsubishi Electric Corporation.
•For A Type: Part 2, Section 3.5
•For B Type: Part 3, Section 3.7
13. Due to differences in motor maximum speed, for secondary and package replacement the output value of the monitor (motor
speed) is differentfrom that of the existing amplifier.
Note that it is required to change the program when using monitor output with existing equipment.
14. In order to connect between the SSCNET conversion unit (model: MR-J4-T20) and the personal computer, both the existing
communication cable (model:MR-CPCATCBL3M)and the junction cable for RS232C (model: MR-J4T20CH00) are required.
Please purchase the Mitsubishi Electric Corporation item.
15. Please note that the command pulse frequency and the droop pulse output unit are different.
16. When replacing, a separate communication cable (USB cable: MR-J3USBCBL3M) is required to connect between the servo
amplifier and the personal computer. Please purchase the Mitsubishi Electric Corporation item.
17.
The renewal tool is not compatible with RS-422/232 serial communication functions.
(4) Encoder *When the renewal tool is used.
Item MR-J2S series MR-J4 series Renewal
tool usage times
Com-
patibility
(*)
Re-
marks
Connector 1 pcs. 1 pc, different connector shape With
conversion cable 
Communication
method Serial communication Serial communication 
Encoder
Resolution 131072 pulses/rev 4194304 pulses/rev (Note
1)
: Compatible; : Limited functions or compatible with certain conditions; ×: Incompatible
<Precautions>
Note 1. Similar operation is possible using parameter settings.
For information regarding detailed parameter settings, refer to the "Guide for Replacing MR-J2S / J2M L (NA) 03092"
issued by Mitsubishi Electric Corporation.
•For A Type: Part 2, Section 3.5
•For B Type: Part 3, Section 3.7
For the MR-J4-_B-RJ020 servo amplifier, if the HG series servo motor is used, the encoder resolution per rotation of the servo
motor is not 4194304 pulses/rev but becomes 131072 pulses/rev.
1－7

１-８
(5) Servo motor *When the renewal tool is used.
Item
MR-J2S series
(Note 1) MR-J4 series
Renewal
tool usage times
Com-
pati-
bility
(*)
Re-
marks
HC-KFS_(B) HG-KR_（B）
HC-KFS_(B)G1▲HG-KR_（B）G1▲△(Note 2)
HC-KFS_(B)G2▲HG-KR_（B）G7▲× (Note 3)
HC-KFS_(B)G5▲HG-KR_（B）G5▲
HC-KFS
HC-KFS_(B)G7▲
HG-KR
HG-KR_（B）G7▲

HC-MFS_(B) HG-MR HG-MR_（B）
HC-MFS_(B)G1▲HG-KR_（B）G1▲×
(Note 2)
(Note 3)
HC-MFS_(B)G2▲HG-KR_（B）G7▲×
HC-MFS_(B)G5▲HG-KR_（B）G5▲×
HC-MFS
HC-MFS_(B)G7▲
HG-KR
HG-KR_（B）G7▲
×
(Note 3)
HC-SFS_(B) HG-SR_(B) 
HC-SFS_(B)G1（H）▲HG-SR_(B)G1（H）▲
HC-SFS_(B)G2▲HG-SR_(B)G7▲× (Note 3)
HC-SFS_(B)G5▲HG-SR_(B)G5▲
HC-SFS
HC-SFS_(B)G7▲
HG-SR
HG-SR_(B)G7▲

HC-RFS（B）HG-RR HG-RR（B）
HC-RFS（B）G2▲HG-SR_(B)G7▲×
HC-RFS（B）G5▲HG-SR_(B)G5▲×
HC-RFS
HC-RFS（B）G7▲
HG-SR
HG-SR_(B)G7▲×
HC-LFS HC-LFS（B）HG-JR HG-JR（B）×
(Note 3)
HC-UFS（B）2000r/min HG-UR HG-UR（B）
HC-UFS HC-UFS（B）3000r/min HG-KR HG-KR（B）×
HA-LFS
(7kW or less) HA-LFS HG-SR HG-SR ×
Installation
HA-LFS
(11kW or more) HA-LFS（B）HG-JR HG-JR（B）×
(Note 3)
HC-KFS HG-KR △(Note 4)
HC-MFS HG-MR 
HC-SFS HG-SR △(Note 4)
HC-RFS HG-RR 
HC-LFS HG-JR △(Note 4)
HC-UFS（B）2000r/min HG-UR 
HC-UFS（B）3000r/min HG-KR △
HA-LFS (7 kW or less) HG-SR △
Moment of
inertia
HA-LFS (11 kW or more) HG-JR
△
(Note 4)
HC-KFS HG-KR (different connector shape) 
HC-MFS HG-MR (different connector shape) 
HC-SFS HG-SR (different connector shape) △(Note 5)
HC-RFS HG-RR 
HC-LFS HG-JR (different connector shape) △(Note 5)
HC-UFS (B) 2000 r/min HG-UR 
HC-UFS (B) 3000 r/min HG-KR (different connector shape) 
HA-LFS (7 kW or less) HG-SR (different connector shape) 
Servo motor
Connector
(power
supply/brake)
HA-LFS (11 kW or more) HG-JR (different connector shape)
With conversion
cable
△(Note 8)
(Note 9)
1－8

１-９
<Precautions>
Note 1. If the gain of the existing servo amplifier is extremely high, the characteristics may vary slightly after primary replacement. Be
sure to specify a new gain setting.
2. Replacing the motor may change the actual reduction ratio. After verifying the motor's actual reduction ratio, be sure to adjust
the electronic gear. For the motor specifications, refer to Part 6 of the " Guide for Replacing MR-J2S / J2M L (NA) 03092"
issued by Mitsubishi Electric Corporation.
3. When replacing the motor, note that the flange and shaft-end dimensions are not compatible. Therefore, the mounting area
and the parts (coupling, pulley, etc.) which are connected to the servo motor shaft must be changed.
4. When replacing the motor, the new motor will have a different moment of inertia. Therefore use care with regard to the load
inertia moment ratio. Depending on the existing system, it may be necessary to change the operation pattern. For the motor
specifications, refer to Part 6 of the "Guide for Replacing MR-J2S / J2M L (NA) 03092" issued by Mitsubishi Electric
Corporation.
5. Laying a new electromagnetic brake cable is required when performing a secondary replacement or package replacement of
a motor with brake.
6. Replacing an HC-KFS motor with an HG-KR motor will increase the maximum torque, possibly resulting in an excessive
torque. To prevent this, be sure to check the torque command and the limit value, etc., and change them if necessary.
7. Replacing an HA-LFS11K, 15K motor with an HG-JR11K, 15K motor will render the existing thermal cable unnecessary.
Terminal treatment work is therefore required.
8. If the HA-LFS22K1M motor is replaced with the HG-JR22K1M motor, it is necessary to change the crimp terminal of the
existing power supply cable.
(Screw size, UVW terminal: M8 →M10; grounding terminal: M6 →M10; thermistor terminal: M4 →M3.5)
9. If the existing motor is replaced with the HG-JR11K1M motor or JR15K1M motor, the replacement motor will not have a
cooling fan and thermal terminal block. Because the existing wiring will become unnecessary, terminate the cables.
1－9