I am currently developing an external controller for the UR3e. Do accelerate development, I have installed and am currently running the UR simulation (see Universal Robots - Offline Simulator - e-Series - UR Sim for non Linux 5.9.4). I am attempting to send URScript commands to the robot (specifically movel and movej) commands over TCP/IP.
While I am able to read data from the simulated robot (over all ports and the RTDE), I am unable to send commands. The simulator log returns the following error:
C210A0: Socket is read-only when the robot is in local (Teach pendant) control
I have ensured the simulated robot is powered on, enabled remote mode, and switched the GUI to remote mode. Despite these changes the error persists. Has anyone encountered this behavior before?