I don't think there is anyway to do it "out of the box". I think you would have to use the socket messaging option and implement TCP/IP on your own. They way I have done it in the past is use a library that implemented Ethernet/IP messaging and communicated directly to the robot that way. I didn't use python but I have used C# and C++. I'm sure there's probably a python library out there.
c# implementation:
