contactor error 4301 XRC controller Motoman sp100x

I've got 2 Motoman XRC controllers that I'm trying to get working. I've managed to clear all the errors until I try to servo ON.

When I either press the deadman switch in teach mode, or give the servo on signal in remote mode, I get "servo turning on" and a quiet click, and then Alarm 4301 Contactor Error [0000_0000_0000_0001], and no main contactor clunk.

I've tried replacing xsu02 and xco01 (dual channel safety), and it seems odd that it occurs on both, so I'm thinking it could be either a parameter/setup based, or somehow to do with the robot that I plug that I am using.

Any ideas welcome, cheers.

thanks for the response, I will try replacing it with one from a parts robot.

Cheers

I've moved some parts (not the contactor unit) and loaded files to a 3rd xrc controller, and now have got to the same issue! so that's all 3 contactor units, all 3WRCA01, or all 3 XCP01 boards that are broken

Makes me think its to do with the setup, or the robot itself, but I cant see how!

Thanks for your help roboprof