You will find all information about connecting devices to the XG12 interface of the controller in the KR C5 micro documentation.
Please note that it is only allowed to connect non-safe inputs and outputs to XG12. Use XG11.1 and XG58 to connect safety devices/functions to the controller.
To be able to control the inputs and outputs of the XG12 interface, you have to map the signals with Work Visual. Open the I/O mapping window and click on Fieldbusses. Next click on your interface board to get access to the available inputs and outputs of the XG12 interface. The mapping procedure is the same as with other signals.