I am working on getting the parts together for a new robot cell and there will be a GuardLogix PLC running everything. My question is how do I connect the robots dry contacts for the e-stop and fence? AB does not make an Ethernet guardlogix module with relay outputs, they have a devicenet one though. I would be using a 1791 or a Point I/O setup for the safety signals. Do I use the output of one of those to control a safety relay?