The only way is the cut the AC going to any power components like the AC inverter and the stepper drivers.
Letting software handle the e stop is totaly wrong and will get someone hurt.
if the stepper drivers take DC, then cut the power to the power supply and you should never cut the DC or this can damage the driver or any other electronics on the DC bus.
you can also send a signal into the software to tell it that the estop has been activated, but never rely on it to stop all axis.
Just cutting the clock and direction signals and the 0-10V going to the inverter is not enough.