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Can send KUKA KR5 R2100's information to RobodDK?

According to RoboDK Document, I know that there is already a way to communicate from RoboDK to KUKA via kuka driver or kukavarproxy, and this means only one-way communication from RoboDK to KUKA. (RoboDK->KUKA)
By the way, is there a way to get infromation from RoboDK about the condition of KUKA robot, such as joint angle value or speed or something?
Additionally, I'm macbook user, so I using robodk 5.6.1 version.

I would really appreciate your advice. 
Thanks, have a nice day.

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