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So This from HAL May be wrong or incomplete?

Anything needed in ini?

Thanks for reply!!

The existing drives are:
Atlas Copco DMC2 31025P (X axis)
DMC2 31025 (Z axis)
DMC2 31025P (C axis) <- This is the dead one. It's also labeled as having been made by Inmotion Technologies AB

The C axis drive is labeled as 240VAC/7A input, 240VAC/7A output, 400Hz max. At the moment I can't see the labels on the other drives, but I will find out their ratings.

The resolvers are part of the motors, so I don't know anything about them (except Z).
The two motors I can get to are:
Wittenstein TPM004-031R-320P-BP1-0301F000 320V, 5.1A max (X axis)
Elmo PSA 90/6-79-P-PMB-4048 230VAC, 6.6A max continuous. Resolver: 56046-01 6-POL (Z axis)

I cannot get to the C axis motor. It's at the bottom center of the robot which is bolted down to the floor. All I know about that axis is that the motor is physically the largest on the robot, has the same color scheme as the X motor and was possibly made by the same company.

I have scoped the resolver signals: the existing drives run them at 4KHz and the resolvers all work as far as I can tell.

Go through the docs and follow the instructions for in configuration. It has what you need to correctly setup the ini for probe basic.