Hi, I'm all doing a homemade CNC router and I'm in the final stage of my project, I have a CSMIO IP-M controller and I do not understand how to connect the emergency stop and the limit switches to the controller,

1- the idea is to do it directly without the PILZ relay ... is this possible?
or do you have to use the PILZ relay if or if?

2- the limit switches are PNP sensors can someone help me how to connect it?

I hope your collaboration !!!

thank you very much
Greetings Jorge