Robots are increasingly present in industry. Achieving effective integration and the full potential of robotic systems presents significant challenges. Robots, sensors and end-effector tools are often not necessarily designed to be put together and form a system. This manual introduces a C++ language-based toolbox, designed to facilitate the integration of industrial robotic arms with server computers, sensors and actuators. The toolbox, named as Interfacing Toolbox for Robotic Arms (ITRA), contains fundamental functionalities for robust connectivity, real-time control in Cartesian and joint space and auxiliary functions to set or get key functional variables. It is designed to run on a remote computer connected with one or multiple robot controllers. All embedded functions can be used through high-level programming language platforms (e.g. MATLAB®, LabVIEW®), providing the opportunity to speed-up robust integration of robotic systems. Emerging applications aim to use robot arms in changing environments with movable obstacles or where the shape of the surroundings is changing. In such situations, the robots need to adapt their tasks/behaviors. ITRA contains functions designed to enable real-time adaptive robot behavior, maximizing the robot promptness and respecting constraints (maximum accelerations and velocities). The toolbox is compatible with all KUKA robotic arms, based on the fourth generation of KUKA controllers and equipped with the Robot Sensor Interface (RSI) software add-on. The current version of the DLL is available for Windows 32bit and 64bit platforms.