Can an S4C controlled robot be used on an IRC5

Robot Controller
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1

Hello,

I am thinking of getting a used robot without a controller and a new controller. I would like to know if I can run into compatibility issues. For example:
Can older S4C controller robots be used on the IRC5 controller? Are there any driver issues for older robots?

2

Hello,

Recently I installed an IRB640 robot (the custommer lost the S4C+ controller) with a new IRC5 controller.
The robot needs to withstand a brake test on all motor drives to get CE certified.
The rest was plug and play.

Greetings,

Jan