Malcolm-Jamal Warner’s Final Performance in Murder in a Small Town First Look (Exclusive)

Malcolm-Jamal Warner‘s final performance is just weeks away.

The Cosby Show alum, who died at 54 in an accidental drowning while on a family vacation in Costa Rica on July 20, filmed a guest appearance for the third episode of season 2 of Fox’s Murder in a Small Town earlier this year. The episode, called “Mother Love,” is set to air on Oct. 7.

In it, Warner plays Richard Buscombe, a protective father who becomes a lead suspect in a murder investigation when his ex-wife is killed just after returning to town. Still heartbroken years after the split, Richard wears his anger and pain on his sleeve, but his only goal in life is to keep his daughter safe. 

“His performance — as a struggling single dad, fiercely protective of his daughter — just glows with integrity,” showrunner and executive producer Ian Weir tells PEOPLE. “He found levels that I hadn’t imagined.”

In the exclusive first look images at Warner on the crime drama, Richard’s worry is evident.

Weir recalls being thrilled when Warner agreed to take the role and thoroughly enjoyed working with him.

“We were really delighted when Malcolm agreed to join us as a guest star — and completely thrilled by the experience of working with him,” he says. “He was such a leader and a gentleman. It’s such a terrible, tragic loss.”

Several weeks after Warner’s death, his mother launched the “Malcolm-Jamal Warner Living Legacy” Instagram account and shared a heartbreaking statement about his death and reflected on his life.

“He was a kind, loving man with a huge heart for humanity,” it read in part. “He wanted all to be aware of their inner strength and that they could succeed, accomplish and transform. … Malcolm was an exceptional husband, father, and son — a man deeply in love with his life, his wife, and his daughter.”

She continued to share that he “was in love with the magic of being an actor, always studying and honing his craft.”

Following Warner’s death, Fox released a statement honoring the actor the studio had worked with many times over the years, including recurring roles on The Resident and Alert: Missing Persons Unit.

It read: “Everyone at FOX is heartbroken by the tragic loss of our friend and colleague, the extraordinary Malcolm-Jamal Warner. While his iconic roles — from comedic to dramatic — are unforgettable and timeless, Malcolm will be remembered most for his warmth, kind heart and the lasting impact he had on his friends, family and fans everywhere. Our thoughts and deepest condolences are with his family and loved ones.”

Murder in a Small Town is based on novels by L.R. Wright and follows Detective Karl Alberg (Rossif Sutherland), who moved to the quiet town of Gibsons to be the new police chief. But murders keep washing ashore, forcing him to put those detective skills work even as he spends time with the local librarian, Cassandra Lee (Kristin Kreuk).

The series regularly features guest actors.

Warner’s final performance will air Tuesday, Oct. 7, on Fox’s Murder in a Small Town. The series kicks off its second season three weeks earlier, at 8 p.m. on Sept. 23.