Yes, ESS and quadrature output. Spindle doesn't have the quad output yet, but Greg is working on this.
That's right. This was what I was meaning regarding cutting the AC to the drive - you are relying on the bus voltage that's left in the drive just for a few seconds to brake the motor and this was what I was not comfortable with.
You can find the Emergency Stop description and diagram in this manual for instance: 2098-in001_-en-p on page 132.