Hi IlFincoITA.
If You have 2 robots in one robotic cell I suggest to make it on safety relays (PILZ for example)
https://www.pilz.com/en-INT/es…OZ-s4-C-24VDC-3-n-o-1-n-c
There on two channels You can make wiring with automatic reset or by button. Wiring and devices depends on Your application.
I don't know Your configuration are You using PLC controlling ?
Marek.
Hi IlFincoITA.
You have made configuration of E-stop with 2 channels and with manual reseting. Good job. Where is coil from KM2 ? As You know from KRC2 up to KRC4 You have codded channel A and channel B. What is that mean. In KRC1 there You just needed +24 V to close each channel. Other way is in KRC 2 and 4. On ESC card in cabinet You have two chips (A, B) for codding signal for E-stop. So You can not swap Test Out A with Test Out B. Check it 
Swap wires on bridge on X2 harting.
This is on inputs to robot side not on output side as You posted eplan-sheet.
I'm wondering about any other E-stop activators (mushrooms as You said Don't You have some acticators nearby to operator ? Other devices haven't own E-stop activators ? If You are not using any other mushrooms You can wire them serially, one by one. (channel A-1 robot + channel A-2 robot on 11-12 input ER, channel B - 1 robot + channel B - 2 robot - 21 - 22 input ER )Have You done sheet with wiring on INPUTS to robot ?
Marek.
Hello there.
No no You have correct schema. Sorry for my misunderstanding because I'm working with e plan where You have splited activation ( emergency relay) with wiring E-stop channels in robot.
Field E-stop. Usually it is done on other emergency relay.
And You ought to take a third ER to make sum all (robot E-stop, and Field E-stop). This is in few concern standards and it is most safe.
And next question how do You make checking that door to cell will be opened ? ha ?
When suddently someone open door and try to go into cell where robots are working ?
So by me You need next one ER to check that fence is closed and is armed. Or You use door locking where is imposible to open gate without stoping robots.
Marek
On the input side, wire all E-Stops in series:
X11 of Robot2 - your circuit:
37 - wire 300
38 - wire 301
55 - wire 305
56 - wire 306
On the output side of the safety relay (ADSRE4) you just need to expand number of contacts. Then wire two redundant contacts to X11 of Robot1 and another two to X11 of Robot2 (1-2 and 19-20).
Contact expansion is done the same way you did with KM1:
- power pair of safety relays (such as KM1) using ADSRE4, let's call them KM_A and KM_B
- monitor those relays (add normally closed contacts of KM_A and KM_B into monitoring loop of ADSRE4)
- form redundant contacts by wiring contacts of KM_A and KM_B in series (can't use two contacts of same relay, has to be one of each KM_A and KM_B).
of course this is in case you use individual safety relays such as G7SA xxxx (lot's of wiring). but there are expansion relay modules that include pair of safety relays so most of the interconnections are already done for you in the factory. then you get redundant contact and your circuit looks like what you did with KM1 (but if KM1 is not redundant, expansion relay, your circuit is not redundant so it is not Cat3, at best it is Cat2).
if using individual safety relays for expansion, circuit would look something like this (see below). If using expansion module as KM1 (already redundant), you may remove KM2
