There is a lot to consider when setting up an E-stop scheme. I would advise that before copying an existing scheme, make sure that whatever hardware you are using has the same features and behavior as the setup you are copying or you may get a very different result.
A well designed E-stop setup will stop the motors as fast as possible, but also retain the machine coordinates, otherwise every E-stop is going to require rehoming the machine.
I make a 4th axis product and often put customer's motors (and drives) on them, so I have exposure to a lot of different stuff and have read a lot of manuals and had conversations with manuf reps and engineers to the point where it all starts to blend together so I try not to quote specifics on a particular brand. That being said, IF my memory serves, the Allan Bradley drives that Hood uses will retain their location and continue to track the encoders while disabled. My Mitsubishi drives and I think also Yaskawa and some others do not.
So, to use Mistubishi as the example, when the drive receives ENABLE, it considers whatever the actual position is . . to be the current commanded position. Depending on the conditions present when the drive was disabled, the difference between where the drive IS and where it should be will vary from a lot to a tiny bit, but the error will be there.
Before I became aware of this phenomena, I was using disable/enable to avoid faulting when the 4th axis spindle was locked while cutting a gear or pulley tooth. The error was tiny per tooth, but after 360 degrees and 72 teeth, the error has acculated to a few degrees. Not even visible to the naked eye sometimes, but enough to ruin a gear if more than one pass is required to cut the teeth.
This took a long time, a lot of ruined parts and a lot of phone time with Mitsubishi engineers to finally figure out what was hapenning, so I just pass it along FWIW. I use ENABLE/DISABLE all the time on the spindle and the 4th axis (when it is in LATHE mode), but there can be pitfalls to using ENABLE/DISABLE on an axis drive, depending on how the feature is implemented on your hardware.
Speaking of FWIW, for my E-stop setup, I have the error lines from each drive 'daisy chained' thru a bank of opto isolators and then a single wire from the end of the chain to the Kflop E-stop input. This arrangment takes care of the voltage difference, the isolation, and multiplexing the inputs in one step in one device. If any drive faults, it breaks the chain and the Kflop gets the E-stop (think christmas tree lights). It is set up active OFF so a broken wire or power problem will also cause the E-stop.
Also consider recovery from the E-stop. Make sure that unexpected instant restarts are supressed (spindle primarily). Another difference between drives comes into play here again. My Mistubishi axis drives require a reset after a fault whereas my Copley Controls spindle drive need only a disable/enable cycle and they are ready to rock again.