Clarify Diagram for External E-stop

xArm/850 Troubleshooting
1

This diagram is in the xArm User Manual pdf.

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You have (Green → El2) and (Blue → El1). It should also work to have (Green → El1) and (Blue → El2) right? The second way seems a little more natural to me. I’m guessing there is some internal circuitry that checks both El1 and El2 are connected to ground.

2

In fact, the default wiring uses the more natural configuration. So it must not matter.
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3

Yes, you are right, there is internal circuitry that checks both El1 and El2 are connected to ground. Ether EI 1 or EI 2 disconnect from the GND will cut off the power of the robot.