# Communication Data structure

**URL:** <https://forum.universal-robots.com/t/communication-data-structure/2483>\
**Category:** Robot Communication\
**Created:** [August 9, 2018, 10:46am UTC](https://forum.universal-robots.com/t/communication-data-structure/2483 "2018-08-09T10:46:14Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon62219106](https://avatars.discourse-cdn.com/v4/letter/a/8e8cbc/32.png) [@anon62219106](https://forum.universal-robots.com/u/anon62219106)\
**Post date:** [August 9, 2018, 10:46am UTC](https://forum.universal-robots.com/t/communication-data-structure/2483/1 "2018-08-09T10:46:14Z")

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Hi,  
I have implemented the UR communicating protocols into our **[trendlog.io 5](http://trendlog.io/)** Dataforwarder for logging and visualising all the parameters from the UR’s.  
I am using the URCaps Starter Package 1.3.55 to test the communication and it is working fine, but I have a couple of questions.

1. I am using the “Client\_Interface\_V3.5.xlsl” file, but there is no description of the Package Type 10 “Safety Data” structure?
2. When running the ursim we receive a package Type 11, but can’t find any description of it.

Where in the documentation can I find this?

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<div class="post-metadata">

**Author:** ![anon65613222](https://avatars.discourse-cdn.com/v4/letter/a/3ec8ea/32.png) [@anon65613222](https://forum.universal-robots.com/u/anon65613222)\
**Post date:** [August 28, 2018, 10:34am UTC](https://forum.universal-robots.com/t/communication-data-structure/2483/2 "2018-08-28T10:34:36Z")

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Reading the Change Log in the Client\_Interface\_V3.5.xls you can see that they say:

> “DataStreamFromURController worksheet: Added Package-Type “Safety Data”, since it was missing. Note, the package contents are not described on purpose.”

and in the sheet 1.6 to 3.2

> “• Not all package types are documented here.”

Also, a quick search here on the forum gave me:

> [@Undocumented primary client interface packet types](https://forum.universal-robots.com/t/undocumented-primary-client-interface-packet-types/2124):
>
> Hi, I’m using the primary client interface. I receive undocumented packet types: 24 and 23, and message type 12 of packet type 20. Is it possible to have a complete documentation? Thanks

with the answer:

> Some packages are only used internally between PolyScope and URControl.  
> These are not documented, and can change wo. notice version by version.

I assume it is the same for the other undocumented types.