Hello, I am looking for some help with TCP/IP socket programming in Codesys. I would like to program the Codesys PLC in a way that allows me to control the Universal robot by this PLC. Here is a link where you can find a description how this could be done with a software tool called "SocketTest v 3.0.0": https://www.universal-robots.com/articles/ur/dashboard-server-cb-series-port-29999/ How can i achive this communication (sending strings and receiving strings) with the Codesys PLC? Best regards...