Setting up Servos in step/dir position mode

joint.x.amp-fault-in you mean? There is another one called joint.x.amp-enable-out and their default values are opposite which makes me think that they work together and that I can link a signal to the ENA pin of the drivers as well and thus complete the security, making some buttons (amp-enable-out) and status LEDs (amp-fault-in) in the UI to identify the driver that fails and be able to reset it with the button. Let's go for it!

RoberCNC wrote: joint.x.amp-fault-in you mean? There is another one called joint.x.amp-enable-out and their default values are opposite which makes me think that they work together and that I can link a signal to the ENA pin of the drivers as well and thus complete the security, making some buttons (amp-enable-out) and status LEDs (amp-fault-in) in the UI to identify the driver that fails and be able to reset it with the button. Let's go for it!

Yes and yes.
Sorry for the short replies ...

Don't worry Tommy, often less is more . I've been messing around the weekend and it works, now I just have to put in some 5v relays that pick up the signal from the drivers to pass the 24v to the 7i76.

The next thing I'm going to get into the world of backlash but that's better in another topic in case I need your help and knowledge (which I will surely need).