error 37001 hardware

A? A?sir,
I have a problem in robot IRB 2400 S4 Display is showing this message--------

Motor on contractor did not activate /energize or KM3 supervisory contractor is not activated/ energized or motor on signal is not distributed through auxiliary contact.

what should I do please send solution as soon as possible.

we have checked
1 power supply 400/410 is coming
2 contactors are ok
3 KM3 supervisiory contactor has changed