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If I have public IP SIM card in my RUT-R950 and I could add it in my RMS, but how to use to access  my PLC remotely?

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Hello,

If you are using RMS, please check this video, for instructions on how to create VPN HUB, to establish connectivity to a PLC behind Teltonika device remotely.

Best regards,

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How do you want to access the PLC? Via Ethernet, RS485, RS232?

If Ethernet, you can:
1) Forward a port to the PLC

2) Setup a VPN so that you can connect your computer to the modem network and then communicate direct to the PLC