Controller Type

Mechanical unit (Irb)

Date produced

System 1 (S1)

6, 60

1974-1981

System 2 (S2)

1000, 6, 60, 90, 8000

1982-1986

System 3 (S3)

1500, 2000, 3000, 3200, 6000, Gantry

1987-1993

System 4 (S4)

1400, 2400, 3400, 4400, 6400, 6400C, Gantry

1994- 1996

S4P (Paint)

5400

S4C

140, 1400, 2400, 4400, 6400, 6400C

1996-1999

S4C Plus

140, 1400, 2400, 6400R, 6600,6650, 7600

2000 - to date

140, 1400, 1600,2400,260,4400, 4450S, 6400R, 660, 640, 6600, 6650, 6650S, 7600, 340, 940