Yes, that should work.
Also see my post above about the possibility of needing to change BasicUI config via PaperUI to use bitmap (.png) only.
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I have done everything as described but the change of the icon is not working…what do I wrong? Can I see it somehow in the log?
Please post the current Item and sitemap file your using.
Nearly. Use hyphen - , not underscore _
windowcontact.png, windowcontact-on.png, windowcontact-off.png
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I used the hyphen no everything works
Is there a door symbol open closed as well?
Of course there is: Icons | openHAB
Door 
Door Closed 
Door Open
Front Door 
Front Door Closed 
Front Door Open
There is also: https://icons8.com/ where you can download for free any png/svg that you want 