Problems with joint position

I've been working with a R-2000ia 165F and now I'm installing the second one, but now after the init start, the zero master position, and calibrating, when i jog the robot some axis (3,4,5,6) the position showed in the teach does not correspond with the real one for example, when i jog the axis 4 90 degrees in the teach shows a movement of 70 degrees, this produces the robot does not move in a straight line in world coord. also in the MENU-SETUP-Interface shows the robot model as a R2000ia but the one who is already working shows a RK2/165F and the values in the details are diferent by a little, so i think the problem should be the software of the controller but I'm not sure, have anyone have had this problem?

Thanks Fabian, I'm still pretty new with the robots, can you tell me how to do that?