Architecture

KUKA Robot Controller
        |
     UDP/XML (4ms cycle)
        |
   NetworkProcess          <- multiprocessing.Process, owns the socket
        |
   Manager().dict()        <- shared send_variables / receive_variables
        |
     RSIClient             <- orchestrator: config, safety, network
        |
      RSIAPI               <- runs RSIClient in daemon thread
     /  |  \  \
motion  io  krl  safety  monitoring  logging  viz  diagnostics  tools

• NetworkProcess runs in a separate OS process. It receives XML from the robot, parses it into send_variables (what the robot tells us), and builds the response XML from receive_variables (what we tell the robot). IPOC synchronization -- echoing the robot's IPOC value unchanged each cycle (the robot advances its own clock) -- is handled automatically.
• RSIClient creates the multiprocessing.Manager dicts for cross-process variable sharing, initializes the ConfigParser and SafetyManager, and manages the network process lifecycle.
• RSIAPI wraps RSIClient in a daemon thread and exposes the namespaced sub-APIs (motion, io, krl, etc.).

The 4 ms cycle is driven by the robot controller, not by RSIPI. If a response is not sent within the cycle window, the robot uses the last held values (for HOLDON="1" variables) or drops to zero.