Have you found the EtherNet/IP tutorial? Ethernet IP guide - 18712 - collaborative robots support
Here you can see which signals are sent between PLC and robot in both directions: eip-iomessage.pdf
Regarding the Jump; there sort of is a function (thanks to Eric Feldmann): How to jump to a certain line in the program via Script or Assignment - Technical Questions - Universal Robots Forum
There’s a flaw with it which you can read in the thread. It jumps to a line number, so if you insert code before the line number, you won’t achieve the correct jump anymore without also editing the jump command.