xyzz:
If I understand you correctly, you want to monitor points within the the relay circuit and not install secondary monitoring points (i.e. switches). I have seen this done on several relay based systems, and if planned out right, actually provides a very good annunciation system.
I am not aware of anything that specifically does not allow it. You did mention "safety" and "machine" and for this, I would suggest IEC 62061 (a subset from IEC 61508). Best practice would see the safety system separate and distinct from other systems. If you are going to "split signals," I would strongly recommend that you perform your due diligence and make absolutely sure that the additions will not adversly affect the safety function(s). The design should be put through an FMEA with an experienced and knowledgeable team. If you are looking to use the safety sensors as alarms, you will not be allowed to take credit for them as a layer of protection.
I would also check with the OEM as there may be warranty issues. My concern here is that the PLC monitoring may cause problems with the safety functions, i.e. the PLC failing or acting in a way that was unexpected. It maybe unfounded, but it really needs a very detailed examination.
Another thought I had on your question is what kind of equipment is it? For example, a boiler, this would not be allowed in some jurisdictions in the manner you have described (and I interpret).
I am not sure how much I helped. Let me know if there are other questions you have.