They can be assigned locally on the robot as digital signals, there in rack 36.
Sp1- slot1, spo-2, ssi-3, sso-4, sir-5, cpc-6, csc-7, jpc-8, jsc-9, csi-10, cso-11, ccl-12, ccr-13, rpi-14, rpo-15, fsi-16, fso-17, sli-18, slo-19.
We typically use safe io connect to make them csi or cso signals to pass them over CIP, to the PLC