IAI America XSEL-QX - Manual (Page 86)

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Part 1 Installation
x EMG1/EMG2, ENB1/ENB2
EMG1 (line+)/(line-) and EMG2 (line+)/(line-) are redundant emergency stop control lines.
ENB1 (line+)/(line-) and ENB2 (line+)/(line-) are redundant enabling control lines.
Use these lines to cut off the external drive source. Since they are completely dry signal lines,
configure a relay circuit using an external power source.
x EMGin, ENBin
EMGin (IN) and EMGin (+24V) are contact inputs that notify the controller of the drive source cutoff
input received by the drive source cutoff circuit via an EMG signal. ENBin (IN) and ENBin (+24V) are
contact inputs that notify the controller via an ENB signal. These contact signals are used to decelerate
the actuator to a stop or turn off the servo. Normally, a safety relay output is connected to each of
these inputs.
x RDY
RDY (OUT+) and RDY (OUT-) are output contacts that will close only when the controller has started
properly. By connecting these contacts in series with similar contacts of other equipment, the
soundness of the entire system can be checked easily.