program for uwrist and dwrist kawasaki r series robot with e series controller

No such thing as programs for UWRIST and DWRIST, they are commands.

If you were using them before, they should still be in the code somewhere.

- Make a backup and do a search for the commands.

- Check the AS Manual, for the commands and also section 11.7 (I think) for how they are applied.

So why are you talking about UWRIST and DWRIST for then if they don't exist?