Connecting omron PLC to UR RTDE via TCP/IP


I want to assess feasibility of real-time position control of UR robot with an NJ omron PLC. I know we can connect the omron PLC via ethernet/IP to UR but that won’t be real-time. Technically speaking, I want to write to a register/recipe in UR say every 2ms and I want UR to move to that pose in real-time. Is this something possible via RTDE and/or TCP/IP?