diff --git a/README.md b/README.md
index 9681283ae8560e811eb8a8faeb1cf3bf5379a7a5..dcf84ba5d589e70e85e80dd8e332cc21e12fd46c 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # ABB EGM instructions
 
+[TOC]
+
 ## Requirements
 
 - A robot with a license to run EGM and with EGM installed
@@ -8,7 +10,7 @@
 
 ## Setup
 
-You can skip this and "Unpack and work" from the included [rspag file](./robotstudio/EGM_Example_IRB14000_RW608.rspag) if you just need a station to test things with.
+You can skip this and "Unpack and work" from the included [`.rspag` file](./robotstudio/EGM_Example_IRB14000_RW608.rspag) if you just need a station to test things with.
 
 ### Setup on controller
 
@@ -23,7 +25,7 @@ connected to LU's network.
 
 #### 2. Install RobotWare
 
-Install RobotWare by going to the Add-in tab on the ribbon in Robotstudio and selecting:
+Install RobotWare by going to the Add-In tab on the ribbon in RobotStudio and selecting:
 
 1. RobotApps
 1. Gallery
@@ -44,7 +46,7 @@ If you are using a real controller, skip to next step.
 1. New
 1. Solution with Station and Virtual Controller
 1. Give the solution a name and location
-1. Select controller version (6.13.01)
+1. Select controller version
 1. Select desired robot, tick Customize options
 1. Press create.
 1. Add the EGM option found under Change Options > Engineering Tools.
@@ -68,7 +70,7 @@ If you are connected to the service port you should be able to use "One-click Co
 
 #### 4. Set up address and ports to listen on
 
-Add UCDevice (ip and port of your computer) by:
+Add UCDevice (IP and port of your computer) by:
 
 1. Open the Controller tab in the ribbon.
 1. Select Configuration
@@ -79,8 +81,11 @@ Add UCDevice (ip and port of your computer) by:
 1. Define your UCDevice
    1. Give it a name
    1. Set type to UDPUC
-   1. Set remote address to 127.0.0.1 (localhost)
-   1. Change remote port to something suitable (e.g. 6510)
+   1. Set remote address to `127.0.0.1` (localhost) or to the IP of your computer 
+      on a network accessible to the robot controller. See 
+      [Network interfaces on the IRC5](#network-interfaces-on-the-irc5) for more details.
+   1. Change remote port to something suitable (e.g. `6510`)
+   1. Leave local port as 0 if the field exists.
 
 If you are using the Yumi you need to add one UCDevice for each arm.
 
@@ -98,10 +103,10 @@ Restart controller to load new system parameters.
 
 1. Remove `Module1.mod` to T_ROB_L and/or T_ROB_R.
    ![Remove module](./imgs/06_1_delete_module.png)
-1. Add `rapid/egm_example_yumi.mod` to T_ROB_L and/or T_ROB_R if you are using Yumi.
-   Otherwise use `rapid/egm_example.mod`.
+1. Add [egm_example_yumi.mod](./rapid/egm_example_yumi.mod) to `T_ROB_L` and/or 
+   `T_ROB_R` if you are using Yumi. Otherwise use  [egm_example.mod](./rapid/egm_example.mod).
    ![Load module](./imgs/06_2_load_module.png)
-1. Modify the `egm_setup.mod` to refer to the correct UCDevice.
+1. Modify the `egm_example.mod` to refer to the correct UCDevice.
    ![Edit values in module](./imgs/06_3_edit_values.png)
 
 ### Python environment setup
@@ -127,6 +132,34 @@ venv/bin/activate  # or source venv/bin/activate on linux
 pip install protobuf
 ```
 
-### Installation & usage of `abb_egm_pyclient`
+## Usage
 
 See [abb-egm-pyclient](https://gitlab.control.lth.se/tetov/abb_egm_pyclient).
+
+## Notes
+
+### Network interfaces on the IRC5
+
+The robot controller is typically equipped with two network interfaces, the
+`WAN` port and the `Service` port.
+
+The `WAN` port behaves like a typical ethernet interface and can be connected to
+a router and assigned either a static or dynamic IP.
+
+The `Service` port on the other hand is connected to an internal routing device
+operating on the subnet `192.168.125.0/24` (`192.168.125.1` - `192.168.125.255`)
+where the IRC5 has the IP `192.168.125.1`. Devices connected to the service port
+(directly or through a switch) gets assigned an IP if configured for dynamic
+(DHCP) assignment.
+
+While typically quite useful this becomes a nuisance when your device gets
+assigned an unexpected IP-address, since changes to `UCDevice`'s requires a
+restart. Normally this could be solved by reserving IPs based on MAC addresses,
+but the IRC5 router does not provide this functionality.
+
+However, you could manually assign your device any IP in the subnet as long as
+there no address collision. The router starts assigning IPs at `192.168.125.5`
+so IPs higher than 50 should be safe.
+
+[Windows instructions](https://support.microsoft.com/en-us/windows/change-tcp-ip-settings-bd0a07af-15f5-cd6a-363f-ca2b6f391ace)
+(use subnet length 24 and leave DNS fields blank).