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Insert instruction code not sent in Run On Robot mode
I'm sorry I never got back to this thread. It is currently not possible to send custom script code using the Instruction command.

On the other hand, you can send a program "ID" to your robot and customize the driver. Similar to this type of operation:
The method works with the generation of program trough the post processor.

But is there a solution to send an ID program to the apiur( bin file) during the runonrobot mode ?

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