In your case it looks like the easiest option is to use a cubic-s output signal and connect to input in controller - and assign input to output (you can use only one channel in such an app)- thanks that you can see the status of input signal on Kawasaki controller.
Just a thought for your current situation as a temporary solution, you can setup a user safety output in Cubic S that that passes that status of your safety input. You could grab that output and take it back to the PLC or back to the robot as an input and then pass it back to the PLC over comms.
I know for my application the safety logic controller(SLC) passes that status of the Safety output it sends to Cubic S directly to the PLC for visual display on the HMI since our SLC and PLC communicate directly to each other already.
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