You can start CoppeliaSim passing the command line parameter -GzmqRemoteApi.rpcPort=23005.
Or with CoppeliaSim already started, execute sim.setNamedInt32Param('zmqRemoteApi.rpcPort',23005) (e.g. in the lua commander at bottom of screen) and then restart the ZMQ Remote API server addon.
Thanks for your reply, but it doesn't work.
execute sim.setNamedInt32Param('zmqRemoteApi.rpcPort',23005), and restart python program. The robot doesn't respond.
make sure to identify the source of the problem. When you say the robot doesn't respond, this doesn not necessarily mean that the remote API cannot communicate with CoppeliaSim. Is there an error message on the client or CoppeliaSim side, and if yes, what does it say?