How to access iDRAC via KVM

Hi, 

I have a couple of PowerEdge 610 servers in a rack connected to a KVM switch. Logging on to the servers locally via the KVM works. 

What I want however is:

How can I access the iDRAC web interface of the servers using the KVM? 

How should the servers be connected to the KVM switch? 

Are there any special items that the servers require to achieve what I want? 

Thanks ahead