Integration with Kawasaki E series controller

[Scot]

Has anyone tried integrating a Do-More or BRX with a Kawasaki E series robot controller?
I have an old ZD series robot that I'm replacing and the supplier only uses Allen Bradley PLCs - which I've banned here - so I'll do the integration myself if I can get some documentation out of Kawasaki.
I was just curious if anyone has done this before.
There's a couple different routes to take. You can write script for the controller and have minor input from the PLC like start, stop, bag in position, pallet in position, layer height - bag size/position adjustments, etc. Or, you can do everything in the PLC and send the robot coordinates - which I believe is the preferred method.

[RBPLC]

The latter choice is probably preferred. What communication protocol does the Kawasaki use?

[Scot]

I still need to get that information out of Kawasaki. It's over ethernet so I'm hoping Modbus over IP, but that's just wishful thinking right now.

[Controls Guy]

Looks like they support all the usual suspects, including Modbus/TCP and Ethernet/IP, both of which BRX can do (if Kawasaki can do explicit E/IP)

Here's the link to the manual PDF :
https://www.astor.com.pl/wsparcie/dokumentacja-techniczna/pobierz/Kawasaki/Roboty%20przemys%C5%82owe/Seria%20K/Podr%C4%99czniki/90210-1184DEK-General-Fieldbus-IO-Usage-Manual(D-E-series).pdf

[Scot]

Thanks. That's one of the manuals I was looking for. I'm pretty sure I can get the rest from Kawasaki before purchase.