Much that has been discussed is ok for "Hobby" or home type machines.
As someone that retrofits drives and controls fora living I yet to hear much about the real world issues of safety and "Safety Standards".
The attached link is a 5 axis digital drive I completed last week and every possible safety issue has been adressed.
Soft over travel limits are set and deal with normal overtravel condition and extreme overtravel result in a complete drive shutdown.
E Stops are handled by relays designed for this purpose.
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