KCR1 Safety Guard Interlock wiring diagram

Hi we bought about 30 of these KCR1 robots. We want to start these robots in production but cannot find anywhere to hook up our fence circuit (door opens, etc... in result the servo motors shut off) we just don't want on of our guys to get hit by the robot if he enters the cage. We found that Safety Guard Interlock is mentioned in the book, but we can't find anything else about it. Could someone please send me a wiring diagram of the safety circuit or anything we could use as a safety circuit?
Thanks in advance!!!