Yes some of the switches require a particular boot image specially Cat 6000 switches.But In routers the main IOS will compatible with any boot loader image which can boot the router but best option is to keep them in same vesion. The boot loader can be best explained as it is a (boot loader) image resides in Flash memory and contains a subset of the Cisco IOS software. This image is used to boot your router from the network or to load Cisco IOS images onto the router. This image is also used if the system cannot find a valid system image. Your boot helper (boot loader) image should correspond to the Cisco IOS release that is running on your router
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