C controller changed - now the program delay is more. Why?

[najafabadi]

Hi everybody,

Recently we changed a C21 controller with its spare. The robot is UX120. We only load all backups and didn't change anything else. Now it seems that this controller runs the robot program in lower speed. We change the maximum speed of the controller from 70% to 90% to cover the line speed. Why it works more slowly now?
Many thanks in advance for your help.

[najafabadi]

Hi,
I think it is better to explain the question in other way.
Normally each Kawasaki robot controller calibrate with its own manipulator and they have the same serial number. I think the PID controller and other parameters of each controller adjusted in the factory for best conditions.
Now if we change the controller of a manipulator with another controller, in my opinion, may there is some hardware related parameters that relate to PID control of each motor or other settings that should be set in a way. Is it a correct guess?
If it is true how can we adjust these parameters?

[SkyeFire]

Is this robot programmed in AS language or in Block-Step?  If the latter, did you load an entire .AS backup, or only a .PG backup?  If the latter, it's possible that the AUX settings for speed are not the same as the original controller.