Two primary neuron types are located in the abducens nucleus: motorneurons and interneurons. The former directly drive the contraction of the ipsilateral lateral rectus muscle via the abducens nerve (sixth cranial nerve); contraction of this muscle rotates the eye outward (abduction). The latter relay signals from the abducens nucleus to the contralateral oculomotor nucleus, where motoneurons drive the contraction of the ipsilateral medial rectus muscle (hence, contralateral to the abducens nucleus that issues the command) ; contraction of this muscle rotates the eye inward (adduction).