Only if you are planning on having multiple workstations accessible with one cMT3106XM. If you’re using the cMT3106XM at a single workstation, with no intent on unplugging and plugging into a nearby work station, there is no need.
The E-Stop Plug (cMT-XM-ESP) is designed to be mounted next to the Control Box, to be plugged into the same port the tether cable from the handheld unit plugs into. Once you unplug the cMT3106XM from the Control Box (cMT-XMBC or cMT-XMBS), the E-Stop plug is inserted, keeping the safety circuit closed while you move to the next work station and plug in there.

