[muzamil03]

I am using Bechoff TwinCAT structure text programming to control self made robotic arm which is following Ethercat communcation protocol. I want to integrate twincat with robodk for real time control, Any expert please guide me. Thank you

[Albert]

You can customize your own robot driver as explained in this section of the documentation:
//www.sinclairbody.com/doc/en/Robot-Drivers....iverCustom