Hello everyone. I have pretty old Kuka KR 150 with KRC2. Robot works fine before. But some days ago begins a problem. Robot won't move in T1/T2 mode. When I choose T1 mode, I saw messages "Unknown operation mode" and "Safety circuit for drives not ready". Of course robot won't move. But if choose automatic mode - messages disappear and robot can move by program.
Robot have no any external PLC. It has pretty simple standard configuration with bridges on X11.
I think, that problem can be located nor in teach pedant nor in safety board. But I cannot simple exchange it, because I have no any other robot. Can anyone give any advice for diagnostic of it?