You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

2.3 Structure

This section introduces the core data structures referenced across the DRFL. Each structure organizes related robot information such as poses, configuration parameters, monitoring data, and system states into well-defined formats used by multiple functions and modules.

• 2.3.1 System / Package / License
• 2.3.2 Monitoring & Status
• 2.3.3 Operation & Feedback (Program / Message / Logs)
• 2.3.4 Coordinates / Tools / TCP / Payload
• 2.3.5 Kinematics & Robot Model (Pose / Wrenches / Positions)
• 2.3.6 Motion Primitives
• 2.3.7 Measurement & Calibration
• 2.3.8 Encoders / IO & Burst
• 2.3.9 Industrial Communication (Modbus / Ethernet / Serial)
• 2.3.10 Industrial Applications (Conveyor / Welding / Machine Tending)
• 2.3.11 Safety Configuration & Objects
• 2.3.12 Safety Local Rules & Zones
• 2.3.13 Access & Remote Control
• 2.3.14 Real-time Streams