Setting up RTDE via ethernet/IP

Is there any document available to setup RTDE via ethernet/IP. with a PLC controller.
We have a beckhoff controller with which we want to establish RTDE communication with UR10e robot.

RTDE and ethernet/IP are overlapping options. Both produce almost the same data. RTDE is commonly used to interact with the robot from a PC using C++ or Python.

If you already have the Beckhoff, I would just use e/ip.
see here: Ethernet IP guide - 18712 - collaborative robots support

Is there a particular point that you are struggling with?

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