The ATOP Laboratory at JPL is equipped with a two Universal Motor Controllers (UMCs) for real time control calculations. A high degree of software complexity is not practical for implementation on the UMCs due both to memory and speed limitations as well as minimal high level language support. An analysis of the minimum level of functionality required at the remote site of a teleprogramming system was performed. This minimum set of functionality was then implemented using the UMCs for real-time control calculations and a UNIX based computer communicating via a serial I/O line. The combination of the UMCs, the robotic manipulator, and the UNIX machine form the remote site of the teleprogramming system. Because the serial I/O line cannot provide real time communication, the architecture was designed to be insensitive to unpredictable serial I/O transfer times. A demonstration teleprogramming experiment performed in the ATOP Laboratory at JPL is presented. This paper is intended as an aid to researchers wishing to reproduce laboratory results or perform research in teleprogramming and supervisory control.