Based on a discussion I was having in another thread (but didn't want to hijack) my plan is to remove power directly from the drivers in the event of an e-stop via relays.

But as the steppers a likely to be moving then is this is problem for the drivers? I'm sending an e-stop to the BOB at the same time so the motors should be in the process of stopping.

Would it help if I added a capacitor across the relay coils to slightly delay driver shut down prior to the motors coming to rest - just a few milliseconds? Or am I worrying over nothing?

Does anyone else remove power to the drivers using relays in the event of an e-stop?