I have got a used krc2 robot from mercedes benz that doesn't have standard X11 or XS1 port for safety circuit.
It has these connectors shown in the photos.
How to wire it for jogging in T1/T2 mode?
Can remove the pcb that is on top of esc-ci board that has 2 circular address configurators (x1/x10)
so make it simple esc-ci ?