First sounds like the E-stop switch has been activated. Check the physical switch(es). Normally E-stop is wired closed circuit so that a break in the wire activates it so check for any wire breaks. For the servo alarm, this is implying one (or more) of your drivers is indicating a fault. See if the drivers have any error code LED's and decode those from the manual.
With no other information about your machine anything else would be guessing.
Fix the E-stop issue first.