Thank you for your help Panic mode.
I up this topic to to give the solution because we manage to have a signal from the robot.
We powered supply X55 at Pin 1 & 2 with a supply of 19V (we remove wired between 5-7 and 6-8).
Inside the KRC4, there is not Bechkoff at all, just the Board 16-16 IOB. So, my configuration in WorkVisual was correct.