Sorry was a bit pushed for time so didnt get a chance to fully respond.
If you look at the computurn PDF you will see I have two fault signals from my drives, the drives I use have configurable outputs, yours may be the same. Anyway you will note that I have one of these fault outputs from each drive going to an input on the IP-A, you can then configure the plugin to look at the Input and set it as a fault input. When this signal is seen the IP-A will halt everything and E-Stop the machine. I think that may be what you were asking?

This however, although good, is not 100% full proof as you are relying solely on software (csmio plugin) to halt things and that is why I also have a fault signal from each drive going to the safety relay to provide a hardware E-Stop in the event of a faulted drive.

Hood