RobotStudio event

Vendor specific CIP objects for IRC5 controller

I am working on an application to pull data from the robot controller to a PLC over CIP. I'm hoping to find a list of CIP object classes beyond what is in the Ethernet/IP Scanner/Adapter application manual. I'm particularly interested in what available around joint position- as EGM is a vast amount of overkill for what I am looking to do.