Thanks!! This is fairly similar to my original plan (minus the relay). I just got hung up on the wireless mpg part and the two types of estop (hard and soft). From what I understand the charge pump can be set to stop when UCCNC is on 'Reset' mode. In Jazz's case this would then be passed on to the safety relay which would in turn cut the contactor. In that case an estop from a wireless mpg could act like a hard wired estop - albiet passing through a layer of software first. Getting the contactor back on would then require both clearing 'Reset' mode in UCCNC and using the physical button to latch the coil of the contactor. I guess my question would be is it possible to have that same behavior from a wireless estop as it is from a hard wired one?