Client interfaces (Primary/Secondary and Realtime)
Overview of control interfaces
Documents about the Primary client interface and the Realtime communications interface, as well as an excel document with an overview can be found at the bottom of this page.
These documents contain information about control modes, safety modes, robot modes, Joint modes, Tool modes etc.
Generally, it is recommended to use the RTDE Interface instead.
More information about RTDE Interface can be found here.