Here are the details you asked for:
I'm using version 8.3.33 on the controller.
I had planned to have the safe outputs on the safety PLC act as the safety signals for the robot. From there, it should be a relatively simple case of activating or deactivating the right signals, like you said.
Still looking for the right KOP though. I'll keep looking. Could you post the name if you find it though?
Thanks for the info,
Hyperion