Restarting program after auto or general stop

bmrgud

Hello to all, I'd like to ask how to automatically turn motors on and
continue stopped program after safety gates being open and closed, and
safety chain established again. Do I send signals from PLC directly to
robot safety input (and which inputs for motors on and program start),
or I send them to devicenet inputs, and then create cross connections
between DN and safety inputs (if this is possible at all). Thanks in advance.