I have established communication with the robot using my app.
How can I detect the status of the tool IO input in real time and make corresponding operations to make the robot enter the force control mode?
I would recommend taking a look at our guide on remote control via TCP/IP here: Remote Control Via TCP/IP - 16496
Specifically the ‘ClientInterfaces_Primary.pdf’ document. In section 2.1.4 in that document, tool data is described as something that can be monitored
For more information on our client interfaces, this would be a good place to start:Overview of client interfaces - 21744