IRIG 106-09 added the ability to issue Chapter 6 commands via a TELNET interface. It does not specify how this interface is to be configured nor does it provide any specific commands for that purpose.
In practice a number of recorder vendors provide support for a TELNET connection over an existing Ethernet port. Standard “dot” commands are then issued via that connection. The actual configuration of the Ethernet port on the recorder has been specified in the TMATS chapter for IRIG 106-13.