Servo enable need to work with Mach3 Centipede and VSD drive.

I have finished the 3 axis router and want to be able to enable and disable the drives when Estop is used and when limits are reached. Don't know how to do it. Mach3 Centipede pci, card, and brk brd., Granite Divices VSD-E drives. Servos are working nicely and I am tuning them now. I am using Adept robotic slides with Tamagawa servos that came with the slides. I will attempt to download some pictures. I need help.https://www.youtube.com/watch?v=1J8XV_WznhU