Socket communication through service port?

in IRC5
Hi All - I have my PLC connected to LAN 3. Wireless SMC Solenoids attached to WAN. I need to connect Sensors to a Linux PC and have this connected to the robot to communicate temperature and robot positions between the PC and the controller. What is the best way to do this? Can I use LAN2? Service Port? Thank you, in advance.
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Provided the system is running RW 6.XX take a look at the Application manual—Controller software IRC5, section 8 Communication for a place to start.0
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