This is on Port 29999. It uses plain TCP socket, plain-text protocol, which doesn't require a library unlike RTDE. We can just connect, send a text command followed by a newline, and get a text response back. Its the "operator panel" interface: power, brakes, load/play/stop programs, safety status.
Common commands:
| Command | Effect |
|---|---|
power on | Powers the arm on |
brake release | Releases the joint brakes |
load <program.urp> | Loads a saved program |
play | Runs the loaded program |
stop | Stops the running program |
unlock protective stop | Recovers from a protective stop |
robotmode | Returns current state (e.g. RUNNING, IDLE) |
Each command gets a one-line text reply, e.g. power on → Powering on.