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These drives do have a common input so you can run 24v for I/O
Also you can define an input to respond to an estop signal to disable the drive.
Dropping mains power is not ideal. Some big machines cannot be allowed to coast to a stop.
You could add a timer relay so the drives were disabled and stopped before the power was removed.
But this should be built into the safety relay if you are building a standards compliant safety system.
Ethercat in general seems to recover OK once powered on again.

Regarding 'Powell's dogleg' method, maybe these could be of interest, although I'm afraid I have no idea how to apply any of this:
cppget.org/least-squares-cpp?f=full#description
people.sc.fsu.edu/~jburkardt/cpp_src/minpack/minpack.html

Actually you can move on to eq45 which shows how to calculate the six variables gamma_i,(2,3,4). However to calculate those 6 variables we first need to calculate gamma_1,1, gamma_2,1 and s_1 which must be calculated numerically with the 'Powell dogleg' method of which I know nothing about.

       Hi,
I am working on a linear ATC project in LinuxCNC. Currently, my atc.ngc file uses data from tool.tbl, but I need to manually run an external Python script every time the tool table data changes to update atc.ngc.

Is there a way to automatically reload tool.tbl data into my ATC program without needing an external script? Can LinuxCNC directly access the updated tool table in real-time within G-code or any built-in mechanism to trigger an update?

Any suggestions or alternative solutions would be appreciated.

Thanks!