Tell us about your robot....Model, which the opcionals?
For example,
Hydraulic pressure:
You can use system input : stop, quickstop.... to STOP robot when pressure fall down, and make a crossconnection to an output and light up the lamp.
You can use TRAP routine : to stop robot and signalize a lamp...
Gate plug:
I imagine, a safety condition and this is must be connected on the safety board, AUTO STOP.
>Robot out of danger zone
>When robot goes into press must not operate.
This is could be done by World Zone, but you need have the optional Advanced Functions.
Using IRC5 you could have the EPS system to determine an area and change signals from the cell.
Another ways would be using electrical switch, OR safety light barrier to indicates if robot are close or inside to press.