Hello Max1, Do you have ctrlX DRIVE with STO (T0) or SafeMotion (M5)? I am guessing STO (T0). If SafeMotion (M5) then additional information can be provided. For STO (T0) the e-stop input on XG31.3 can be used as a quick top before STO is applied using a delay function in the safety PLC or safety relay. Here is an example from the documentation which can be downloaded here (https://www.boschrexroth.com/media/c881e187-2fcf-442a-9d17-53289ec12d81) for more details: HTH
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