Profinet Acyclical communication

Hi all, I have an IRC5 with Profinet that I have setup with a Siemens S7-1200 PLC. I have IO communication working and working well, but I want to grab some data from the robot acylically. This would be an explicit message in EIP land, but I don't know what the term is for Profinet. Can anyone help to point me in the right direction?