I found if I have A axis enabled it would not work but that`s not the problem.
one thing I found that helped was to reload M3 as it would over wright the driver`s on load up. then go back to M4 with only the E stop going then added in the axis`s close and restart M4 then do the other inputs, close and restart then do the outputs.
the ESS set up can be a nightmare to do if one setting is wrong. and 2651 was a op`s you have to go to the new one they made some mistakes in the code