The teach/auto key is built into the KRC, so cannot be wired through X11.
An E-Stop could be wired directly to the E-Stop contact pairs on X11. The door striker could be wired directly to the Safety Gate/Operator Safety contacts on X11.
Note: all these safety signals are dual-channel, and as such the E-Stop button and safety gate lock must also be dual-channel devices. Each safety pair has an A and B channel. A direct circuit must be wired from a Test A output, through the safety device, and back to the A input for that channel. The same for the B channel. When the circuit is closed, the robot will operate. Anything that opens the circuit (opening the safety device, removing/breaking a wire, cross-wiring the A/B signals) will render the robot inoperative until the signal loop is restored.
