Closed loop steppers - LinuxCNC stop on error driver

Hello
I'm using two closed loop steppermotors for my axis. It works fine. but if for some reason one driver goes into error mode the machine keeps running instead of stopping.
How can I tell LinuxCNC it should stop once a driver goes into error mode? The drivers have a alarm connection is this being used? Or should I configure something in my HAL file?

You would have to set this up in hal
( and externally wire the drives alarm outputs to a input pin or pins that LinuxCNC can read )

Motion has fault input pins for each axis but you can likely combine the external fault outputs
to a single pin if you are short of inputs

man motion

for the pin names

First you need to find a digital fault output from your drive, and connect that to an input on your Linuxcnc computer.
Then in your hal file connect the output from that input to the pin axis.N.amp-fault-in (or joint.N.amp-fault-in if you are using Master) where N is the joint number for that drive.

Thanks, I will try it tomorrow.