position data as group input to irc5

Is there any function in rapid, which can be used to collect position data from Siemens PLC. I wants to supervise the position of job using plc and plc will send the position coordinates to irc5 (as a Group Input). which could then be used to generate offset by known value.
PLC S7-1200 is alraedy mapped to IRC5 using anybus gateway (profinet master/devicenet slave mode).
any help in this..
PLC S7-1200 is alraedy mapped to IRC5 using anybus gateway (profinet master/devicenet slave mode).
any help in this..
Comments
any guide. i am badly stuck in this problem. needs some calculated offset movement by robot.