BCAP packets, command format

Hello everyone,
I have recently begun working with a denso VP6242a. I have been focused on getting it set up for external control.

Goal: Generic control via BCAP packets
Current system: Python script running the Denso Orin_bcap github repository (github.com/densorobot/orin_bcap)
Primary issues: Currently using trial-and-error in determining how BCAP messages should be sent for every new command

I'm having a very difficult time in adding functionality, as I do cannot find clean documentation fo the bcap command system. I can find all of the required documentation for use with Wincaps/pendant control, and don't really need "extra help" beyond getting the first instance of the functions working.

Currently, I am fighting with defining a TCP and switching to it in code. Returned errors indicate an invalid argument, but nothing beyond that.

Can someone please help with both the command below, and with any resources that will help in the future?
The following do not work (in addition to many others)

client.robot_execute(robot_handle, "ChangeTool", 1, toolposition) #Where toolposition is an array of integers, fails with 6 or 7 array values
client.robot_execute(robot_handle, "ChangeTool", 1) #attempting to use controller-defined tool
client.robot_execute(robot_handle, "Tool", 1) #attempting to use controller-defined tool
client.robot_execute(robot_handle, "ChangeTool", "Tool1") #send a string since "CurTool" returns string "Tool0"
client.robot_execute(robot_handle, "Tool", "1") #send a string since "CurTool" returns string "Tool0"