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Please see the wiki/abb/Tutorials/InstallServer page and Is ROS industrial supported on ABB's IRB 1520 or IRB 1600 robots ? for what is needed in general to support a particular ABB robot.

In your particular case, I think the old controller may be problematic: if I understand you correctly, you have an S4C controller. The RAPID components of the driver were developed and tested on IRC5 controllers, so I'm not sure they are compatible.

I'd advise you to send a message to the ROS-Industrial mailing list and see whether someone has already tried this. If not, readers there might be able to help you.