read....
read controller model and KUKA documentation to confirm that your robot X11 is wired correctly.
according to picture, your controller is KRC4 compact so EStop circuit is on pins 1-2 and 10-11. X11 needs NO contacts from K1, K2 as shown. if the wiring is correct, K1, K2 are energized when EStop circuit is ok.
Contacts should be normally closed in use (if nothing is wired the robot should not move, when using a safety relay these are normally open which you have)
whas this system working before, or is this a new system?
when you wired the contacts did you reset the system (emergency contacts have to close at the exact same time, look up dual channel emergency stop systems)? there is an option for that in the menu on the teach pendant. should be under "start-up" and then "service" (i work in a different language so the words may be different).
EStop button contacts must be NC. since relays are uses, those buttons need to be wired to the inputs of the EStop monitoring circuit (safety PLC or monitoring relay). that monitoring circuit will also have outputs (NO) that either connect to X11 directly or control relays K1/K2 (and then NO contacts of K1/K2 relays are to be wired to X11).
If needed, you can test the X11 interface by closing both channels (one jumper to 1-2 and another to 10-11). note. both channels need to be closed at the same time. if that is not the case, safety input will be locked out.
