(Again, corrections and additions welcome)
IDE has been very upwards compatible for non-RAID systems, e.g. I can use ATA-33 drives with an ATA-100 controller, and ATA-100 drives with ATA-33 controllers.
OTOH, I interpret Andrew as saying that the IDE RAID controllers aren't that compatible, so a ATA-66 RAID controller might not work well with ATA-100 drives.
Many of the SCSI generations are compatible (SCSI-I/II/Ultra), but when SCSI went to LVD (SCSI-3? I know SCSI-160 is LVD), the newer (LVD) devices aren't compatible with the older (SE) devices, because the signaling voltages and methods are so different. However, I would expect SCSI-3 (80 MB/sec) and SCSI-160 to be pretty compatible, and most likely SCSI-320 as well.
Tony