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?

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