According to pictures the robot has the RDW1 card. I have not checked the 24V yet. I will as soon as I deal with a more serious problem - get back the configuration of the driver. Well, for now thank you for your help.
Edit:
Well, after restarting the whole machine everything has booted normally (miracle!). You were right, when measuring the 24V of the x21-x31 cable I noticed that the connector has been plugged in incorrectly (on the x21 side). Thanks again, the robot is moving now in T1, T2 mode. There is only one error: 284 Accu-voltage at PM1 below 22 during last buffering. I suppose that it is something about weak (/empty) batteries.