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What a shit manuel that is why bother.?

Anyway to answer your Q just put one of the wires from the E-stop to any input connection then the other wire to Ground connection. Then in the control...

No...that's a short circuit

A+ = Red + Blue/White
A- = Red/White + Blue

B+ = Green + Black/White
B- = Green/White + Black

Bipolar series gets better torque at very low speed, so it's not...

Yep I'll cut them for ya but when do you want them for.?

You will want the motors in bipolar parallel to get higher torque at high speed.
There's the information you need to do it in the PM752 driver datasheet:
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