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diff --git a/ur_robot_driver/doc/installation/robot_setup.rst b/ur_robot_driver/doc/installation/robot_setup.rst
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--- a/ur_robot_driver/doc/installation/robot_setup.rst
+++ b/ur_robot_driver/doc/installation/robot_setup.rst
@@ -23,7 +23,38 @@ There are many possible ways to connect a UR robot. This section describes a goo
    Preferred DNS server: 192.168.1.1
    Alternative DNS server: 0.0.0.0
 
-
+* Enable remote control (Not applicable on PolyScope X versions)
+   #. Go to the hamburger menu -> settings.
+   #. Go to System -> Remote control.
+   #. Unlock the menu using the admin password, and enable Remote Control.
+   #. Press exit.
+   #. The robot can now be toggled between local and remote control in the upper right hand corner.
+
+.. image:: initial_setup_images/remote_control.png
+   :width: 600
+   :alt: Screenshot showing remote control toggle.
+
+* **If using PolyScope 5.10 or greater:**
+   #. Go to the hamburger menu -> settings.
+   #. Go to Security -> Services.
+   #. Unlock the menu using the admin password.
+   #. Enable the Dashboard Server (Not applicable on PolyScope X versions), Primary Client Interface, Secondary Client Interface and Real-Time Data Exchange (RTDE) interfaces.
+   #. Lock the menu and press exit.
+
+* PolyScope 5 screen:
+
+.. image:: initial_setup_images/services_polyscope5.png
+      :width: 600
+      :alt: Screenshot from PolyScope 5.xx services menu.
+
+* PolyScope X screen:
+
+.. image:: initial_setup_images/services_polyscopex.jpg
+   :width: 600
+   :alt: Screenshot from PolyScope X screen.
+
+Remote PC Setup
+~~~~~~~~~~~~~~~
 #.
    On the remote PC, turn off all network devices except the "wired connection", e.g. turn off wifi.