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The code was originally tested on an IRC-5 controller, with an IRB-2400 robot, but other combinations should also work. The following controller options are required: 623-1: Multitasking 672-1: Socket Messaging (in recent RobotWare versions, this option is included with 616-1: PC Interface ) RobotWare OS version 5. 13 or later is required due to the use of certain socket options. Earlier versions may work, but will require modifications to the RAPID code.