In order to make it possible for certain actuators to have their power cut off during an emergency-stop event, while other actuators, e.g. the gripper, continue to receive power, two bus types, on_for_emergency_stop and off_for_emergency_stop, are introduced. Depending on which outgoing bus is registered at a terminal, the connection will either continue to receive power in an emergency-off situation or not.
In this example, the different bus wirings are denoted with different colors.
The names of the bus types are written on the connections.