skrobot, sorry that I hadn't seen the email ping when you had sent your replies, otherwise I'd have answered. Well, I ended up having Staubli upgrade my system and it is in the final stages of the service. I had the CPU upgraded, and it is running the latest possible version of the software for that controller. I've seen videos of it running, and it's moving really well, it looks like they did a great job on it. It cost me a little over $8000, so it sure wasn't cheap, but compared to a new setup, it was a good deal, and hopefully a wise investment. The one issue is of course that it is now at EOL, so parts are going to be getting harder and harder to find, but it isn't going to be running all day every day, so hopefully it will last me for years if I take good care of it.
savad, I'll keep you in mind down the road, hopefully I won't need your services, but if it happens that I do, I will send you a ping!