emergency for position servo

i am making a program for controlling an AC servo drive via high speed pulse output but i need a way so that when the machine emergency switch is triggered the servo stop immediately and after the machine starting again the servo will complete the Angle required.

in other way what is the best programming method so that i can always know how much pulses still i need to provide from the PLC after the emergency case happened

Is this motor a servo or a stepper motor?

If it is a stepper motor it would be ideal to "close the loop" with an encoder. When the machine stops you'd know exactly how many more pulses you'd need to go on a restart.

If you're controlling a servo you should have the encoder information available to do the same thing.

You could try to capture on a machine stop how many pulses are remaining in your queue for the high speed output on your PLC but I wouldn't rely on it.

it's AC servo and the servo Drive is Mitsubishi ASDA-B2.
I have the signal for the emergency stop of the machine and i stop the servo immediately after i receive it.

so i have to close the loop by taking encoder signals from the Servo drive and count how many pulses are remaining or there's better option.