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Assuming the original system was at least a Gen1 Phase 3, you can also swap between generations. For example, you can use an old DR1005B motor with a new DRG3-1005B drive. Or you can use a new DRG3-1005B motor with an old DR1005B drive. However, the motor feedback connector is different. The CN2-F adapter cable is used to connect an old motor to a new drive.
Related FAQ:
Cable to Adapt G2 and G1 Motors to G3