IRB6600 with IRC and DriveSystem09

Hi Guys

Is it possible to use a IRB6600 from S4c+ with a IRC5 Controller with DriveSystem 09? I use an IRB 6600 already with a DriveSystem04, that works fine.

But now i have Controller with DSQC639 and newer DriveSystem09.

can anyone help me with a Backup, from with configuration?

yes it must work, i also see in the RW5.15 mediapool some files for the 6600

now, I have boot the System as a 6640 Robot and the 6600 is moving,

but the kinamatik is wrong so the robot is not moving straight