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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.

This is a stab in the dark as i do not have a 7i96S (did have 7i96) but inputs should be with something like "inmux" in the naming, sorry been a long time since i did a 7i95 that had something similar in the pin naming.

While you wait for PCW to confirm when the 8i20 might be in stock:
You can use other drives to drive motors and still use the existing resolvers, but no idea what exactly would work for you, probably any "voltage mode" drive, and maybe "torque mode" will also work, but you should wait for someone else to chime in and confirm any of this.
I am sure LinuxCNC will work with any setup, not sure about cheap drives plastering all possible options on the label and later finding out they do only step/dir or only +-10V...although some +-10V should work if they do not explicitly require having a tacho attached.
This would mean using a Mesa 7i97T together with 7i49.
In the meantime some more info might help narrow things down, like motor voltage/current/power, resolver type/make/model (very important as i have resolvers that do not work with 7i49, yes i am unlucky as heck), brakes, tacho maybe, etc.

By providing detailed technical specifications for your servo amplifier and motor, you’ll significantly improve your chances of receiving an accurate answer.

Yes, the networking part, we were misled badly and chased our tails by having the laptop wired to the console while the network required for file transfers was at the back of the main electronics cabinet! That is 6 hours i will never get back! I kept wondering why W2K has an IP set and the Mazak software has another IP set...now i know.
So now it can be used properly with the laptop, but i would still like to be able to use it without the laptop attached since i already figured out how to copy stuff to it, so i will report the exact model when they get back from Germany in a few days.
Thank you very much for everything.