Dependencies between Controller software and robot

[vmnaeim]

I have a S420iW Manipulator with RJ2 Controller. But its Software lost and I have to copy software from controller of an S420iF robot. Now the S420iW robot is working with S420iF software.

I 'm unable to change the software setting to redefine iW manipulator for iF software. So Robot can't jogged correctly in non Joint coordinates. Because of Differences between Gear ratio defined in software and real ratios all calculated angles are wrong.


My question Is:
Is it possible to adapt an individual robot and individual controller. In other Word what dependencies exist between robot and its controller and are them changeable?

Thank For Idea.

[Jim Tyrer]

I know that with the newer J3 Fanucs, the software is unique to the arm. There are likely some files that are common, but the tuning parameters will differ.
You can probably hear that the servo's sound rough and whiny when you apply arm power.

Have you tried buying a replacement from Fanuc? For the J3 it's about $200 for a replacement flashcard.

[vmnaeim]

Unfortunately I live in a US(and other world) restricted country  and we don't have authorized fanuc dealer available. so we have to think we live in moon 

I have swapped more than 15 S420iF arms with 15 RJ2 controllers and also swapped 4-5 softwares between them. but only last swapping was unsuccessful. A un tuned Working robot is better than a stopped robot. So problems that you say about is not important for my orphan robots.

Can any body give me a S420iW(With RJ2) Back up? I accept the responsibility of secondary problems.