What kind of live video do you like to stream? i think you can clone the Polyscope UI using the display port on the e-Series. There is also a way to use Polyscope with a Remote Desktop connection. If you like to send a Data Stream from an external camera and control it with a urcap i would suggest to use sth. like the jffmpeg library. If there is any robot data you want to send, check out the RTDE Guide.