I want to use a signal to control the emergency stop. How should I start?

Now I want to connect a sensor on the shaft. If the sensor sends a corresponding signal, it can realize automatic emergency stop or operation. What should I do?
Can anyone help me, thank you

You can use estop-latch to daisy chain multiple estops in software.
There is an example here  forum.linuxcnc.org/47-hal-examples/25861-external-e-stop
But this may not be a compliant safety system

OK, thank you very much for your guidance. I'll try your method
Thank you again