how to read and write parameters from ABB PLC's using socket methods?

I have ABB PM591 version.2 PLC I want to read and write parameters using socket method with programming languages (like Python, nodejs and etc...)

I'm using Linux operating which does not support DCOM/COM services so I cannot use OPC configurator to read it in OPC DA classic , I have an option to read and write data from Siemens and Allen Bradley PLC's using socket method with PLC's which is not supporting with ABB PLC's .

Can anyone suggest me any method to read and write data from ABB PLC's using socket with Programming??

Thank you for help.