I am working on commissioning a Rexroth Smart Function Kit (3-axis) for a college project, and I am confused about the pin outs for the safety port XG41. I would like to wire an emergency stop button using the featured safety port, but I cannot figure out how to wire it so that the STO function will work. I have attached a picture of the mounted CtrlX drives as well as a picture of the pin outs for XG41. More specifically I am not sure what the input for selection of channel 1 means or where it should be wired as well as the channel 1 dynamization output. I am assuming the pin with function n.c. is where I will wire the normally closed contact of the e-stop button but would like to clarify what must be wired so that STO function of the motors will work properly. Thank you!
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