Hello. I'm trying to establish a socket connection in python to the UR5. The UR5 is running on 3.6 software. It's a CB3 series so URCAP 1.2.1. I am able to ping the UR5 IP address from my PC. I am trying to connect to port 30002 but I keep getting an error that says "No connection could be made because the target machine actively refused it." Firewall is not enabled on my PC. Is there a way I can see what ports are available/listening on the UR5? How can I fix this to ensure socket connection?