diff --git a/src/rtde/data_package.cpp b/src/rtde/data_package.cpp
index efa5b6699..3527dc2fb 100644
--- a/src/rtde/data_package.cpp
+++ b/src/rtde/data_package.cpp
@@ -34,6 +34,248 @@ namespace urcl
 namespace rtde_interface
 {
 std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_type_list{
+  // INPUTS
+  { "speed_slider_mask", uint32_t() },
+  { "speed_slider_fraction", double() },
+  { "standard_digital_output_mask", uint8_t() },
+  { "standard_digital_output", uint8_t() },
+  { "configurable_digital_output_mask", uint8_t() },
+  { "configurable_digital_output", uint8_t() },
+  { "standard_analog_output_mask", uint8_t() },
+  { "standard_analog_output_type", uint8_t() },
+  { "standard_analog_output_0", double() },
+  { "standard_analog_output_1", double() },
+  { "external_force_torque", vector6d_t() },
+
+  // INPUT / OUTPUT
+  { "input_bit_registers0_to_31", uint32_t() },
+  { "input_bit_registers32_to_63", uint32_t() },
+  { "input_bit_register_0", bool() },
+  { "input_bit_register_1", bool() },
+  { "input_bit_register_2", bool() },
+  { "input_bit_register_3", bool() },
+  { "input_bit_register_4", bool() },
+  { "input_bit_register_5", bool() },
+  { "input_bit_register_6", bool() },
+  { "input_bit_register_7", bool() },
+  { "input_bit_register_8", bool() },
+  { "input_bit_register_9", bool() },
+  { "input_bit_register_10", bool() },
+  { "input_bit_register_11", bool() },
+  { "input_bit_register_12", bool() },
+  { "input_bit_register_13", bool() },
+  { "input_bit_register_14", bool() },
+  { "input_bit_register_15", bool() },
+  { "input_bit_register_16", bool() },
+  { "input_bit_register_17", bool() },
+  { "input_bit_register_18", bool() },
+  { "input_bit_register_19", bool() },
+  { "input_bit_register_20", bool() },
+  { "input_bit_register_21", bool() },
+  { "input_bit_register_22", bool() },
+  { "input_bit_register_23", bool() },
+  { "input_bit_register_24", bool() },
+  { "input_bit_register_25", bool() },
+  { "input_bit_register_26", bool() },
+  { "input_bit_register_27", bool() },
+  { "input_bit_register_28", bool() },
+  { "input_bit_register_29", bool() },
+  { "input_bit_register_30", bool() },
+  { "input_bit_register_31", bool() },
+  { "input_bit_register_32", bool() },
+  { "input_bit_register_33", bool() },
+  { "input_bit_register_34", bool() },
+  { "input_bit_register_35", bool() },
+  { "input_bit_register_36", bool() },
+  { "input_bit_register_37", bool() },
+  { "input_bit_register_38", bool() },
+  { "input_bit_register_39", bool() },
+  { "input_bit_register_40", bool() },
+  { "input_bit_register_41", bool() },
+  { "input_bit_register_42", bool() },
+  { "input_bit_register_43", bool() },
+  { "input_bit_register_44", bool() },
+  { "input_bit_register_45", bool() },
+  { "input_bit_register_46", bool() },
+  { "input_bit_register_47", bool() },
+  { "input_bit_register_48", bool() },
+  { "input_bit_register_49", bool() },
+  { "input_bit_register_50", bool() },
+  { "input_bit_register_51", bool() },
+  { "input_bit_register_52", bool() },
+  { "input_bit_register_53", bool() },
+  { "input_bit_register_54", bool() },
+  { "input_bit_register_55", bool() },
+  { "input_bit_register_56", bool() },
+  { "input_bit_register_57", bool() },
+  { "input_bit_register_58", bool() },
+  { "input_bit_register_59", bool() },
+  { "input_bit_register_60", bool() },
+  { "input_bit_register_61", bool() },
+  { "input_bit_register_62", bool() },
+  { "input_bit_register_63", bool() },
+  { "input_bit_register_64", bool() },
+  { "input_bit_register_65", bool() },
+  { "input_bit_register_66", bool() },
+  { "input_bit_register_67", bool() },
+  { "input_bit_register_68", bool() },
+  { "input_bit_register_69", bool() },
+  { "input_bit_register_70", bool() },
+  { "input_bit_register_71", bool() },
+  { "input_bit_register_72", bool() },
+  { "input_bit_register_73", bool() },
+  { "input_bit_register_74", bool() },
+  { "input_bit_register_75", bool() },
+  { "input_bit_register_76", bool() },
+  { "input_bit_register_77", bool() },
+  { "input_bit_register_78", bool() },
+  { "input_bit_register_79", bool() },
+  { "input_bit_register_80", bool() },
+  { "input_bit_register_81", bool() },
+  { "input_bit_register_82", bool() },
+  { "input_bit_register_83", bool() },
+  { "input_bit_register_84", bool() },
+  { "input_bit_register_85", bool() },
+  { "input_bit_register_86", bool() },
+  { "input_bit_register_87", bool() },
+  { "input_bit_register_88", bool() },
+  { "input_bit_register_89", bool() },
+  { "input_bit_register_90", bool() },
+  { "input_bit_register_91", bool() },
+  { "input_bit_register_92", bool() },
+  { "input_bit_register_93", bool() },
+  { "input_bit_register_94", bool() },
+  { "input_bit_register_95", bool() },
+  { "input_bit_register_96", bool() },
+  { "input_bit_register_97", bool() },
+  { "input_bit_register_98", bool() },
+  { "input_bit_register_99", bool() },
+  { "input_bit_register_100", bool() },
+  { "input_bit_register_101", bool() },
+  { "input_bit_register_102", bool() },
+  { "input_bit_register_103", bool() },
+  { "input_bit_register_104", bool() },
+  { "input_bit_register_105", bool() },
+  { "input_bit_register_106", bool() },
+  { "input_bit_register_107", bool() },
+  { "input_bit_register_108", bool() },
+  { "input_bit_register_109", bool() },
+  { "input_bit_register_110", bool() },
+  { "input_bit_register_111", bool() },
+  { "input_bit_register_112", bool() },
+  { "input_bit_register_113", bool() },
+  { "input_bit_register_114", bool() },
+  { "input_bit_register_115", bool() },
+  { "input_bit_register_116", bool() },
+  { "input_bit_register_117", bool() },
+  { "input_bit_register_118", bool() },
+  { "input_bit_register_119", bool() },
+  { "input_bit_register_120", bool() },
+  { "input_bit_register_121", bool() },
+  { "input_bit_register_122", bool() },
+  { "input_bit_register_123", bool() },
+  { "input_bit_register_124", bool() },
+  { "input_bit_register_125", bool() },
+  { "input_bit_register_126", bool() },
+  { "input_bit_register_127", bool() },
+  { "input_int_register_0", int32_t() },
+  { "input_int_register_1", int32_t() },
+  { "input_int_register_2", int32_t() },
+  { "input_int_register_3", int32_t() },
+  { "input_int_register_4", int32_t() },
+  { "input_int_register_5", int32_t() },
+  { "input_int_register_6", int32_t() },
+  { "input_int_register_7", int32_t() },
+  { "input_int_register_8", int32_t() },
+  { "input_int_register_9", int32_t() },
+  { "input_int_register_10", int32_t() },
+  { "input_int_register_11", int32_t() },
+  { "input_int_register_12", int32_t() },
+  { "input_int_register_13", int32_t() },
+  { "input_int_register_14", int32_t() },
+  { "input_int_register_15", int32_t() },
+  { "input_int_register_16", int32_t() },
+  { "input_int_register_17", int32_t() },
+  { "input_int_register_18", int32_t() },
+  { "input_int_register_19", int32_t() },
+  { "input_int_register_20", int32_t() },
+  { "input_int_register_21", int32_t() },
+  { "input_int_register_22", int32_t() },
+  { "input_int_register_23", int32_t() },
+  { "input_int_register_24", int32_t() },
+  { "input_int_register_25", int32_t() },
+  { "input_int_register_26", int32_t() },
+  { "input_int_register_27", int32_t() },
+  { "input_int_register_28", int32_t() },
+  { "input_int_register_29", int32_t() },
+  { "input_int_register_30", int32_t() },
+  { "input_int_register_31", int32_t() },
+  { "input_int_register_32", int32_t() },
+  { "input_int_register_33", int32_t() },
+  { "input_int_register_34", int32_t() },
+  { "input_int_register_35", int32_t() },
+  { "input_int_register_36", int32_t() },
+  { "input_int_register_37", int32_t() },
+  { "input_int_register_38", int32_t() },
+  { "input_int_register_39", int32_t() },
+  { "input_int_register_40", int32_t() },
+  { "input_int_register_41", int32_t() },
+  { "input_int_register_42", int32_t() },
+  { "input_int_register_43", int32_t() },
+  { "input_int_register_44", int32_t() },
+  { "input_int_register_45", int32_t() },
+  { "input_int_register_46", int32_t() },
+  { "input_int_register_47", int32_t() },
+  { "input_double_register_0", double() },
+  { "input_double_register_1", double() },
+  { "input_double_register_2", double() },
+  { "input_double_register_3", double() },
+  { "input_double_register_4", double() },
+  { "input_double_register_5", double() },
+  { "input_double_register_6", double() },
+  { "input_double_register_7", double() },
+  { "input_double_register_8", double() },
+  { "input_double_register_9", double() },
+  { "input_double_register_10", double() },
+  { "input_double_register_11", double() },
+  { "input_double_register_12", double() },
+  { "input_double_register_13", double() },
+  { "input_double_register_14", double() },
+  { "input_double_register_15", double() },
+  { "input_double_register_16", double() },
+  { "input_double_register_17", double() },
+  { "input_double_register_18", double() },
+  { "input_double_register_19", double() },
+  { "input_double_register_20", double() },
+  { "input_double_register_21", double() },
+  { "input_double_register_22", double() },
+  { "input_double_register_23", double() },
+  { "input_double_register_24", double() },
+  { "input_double_register_25", double() },
+  { "input_double_register_26", double() },
+  { "input_double_register_27", double() },
+  { "input_double_register_28", double() },
+  { "input_double_register_29", double() },
+  { "input_double_register_30", double() },
+  { "input_double_register_31", double() },
+  { "input_double_register_32", double() },
+  { "input_double_register_33", double() },
+  { "input_double_register_34", double() },
+  { "input_double_register_35", double() },
+  { "input_double_register_36", double() },
+  { "input_double_register_37", double() },
+  { "input_double_register_38", double() },
+  { "input_double_register_39", double() },
+  { "input_double_register_40", double() },
+  { "input_double_register_41", double() },
+  { "input_double_register_42", double() },
+  { "input_double_register_43", double() },
+  { "input_double_register_44", double() },
+  { "input_double_register_45", double() },
+  { "input_double_register_46", double() },
+  { "input_double_register_47", double() },
+
+  // OUTPUTS
   { "timestamp", double() },
   { "target_q", vector6d_t() },
   { "target_qd", vector6d_t() },
@@ -44,15 +286,21 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "actual_qd", vector6d_t() },
   { "actual_current", vector6d_t() },
   { "actual_current_window", vector6d_t() },
+  { "actual_current_as_torque", vector6d_t() },
   { "joint_control_output", vector6d_t() },
   { "actual_TCP_pose", vector6d_t() },
   { "actual_TCP_speed", vector6d_t() },
   { "actual_TCP_force", vector6d_t() },
   { "target_TCP_pose", vector6d_t() },
   { "target_TCP_speed", vector6d_t() },
+  { "tcp_offset", vector6d_t() },
+  { "actual_TCP_acceleration", vector6d_t() },
+  { "target_TCP_acceleration", vector6d_t() },
   { "actual_digital_input_bits", uint64_t() },
+  { "actual_configurable_digital_input_bits", uint64_t() },
   { "joint_temperatures", vector6d_t() },
   { "actual_execution_time", double() },
+  { "target_execution_time", double() },
   { "robot_mode", int32_t() },
   { "joint_mode", vector6int32_t() },
   { "safety_mode", int32_t() },
@@ -66,6 +314,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "actual_robot_current", double() },
   { "actual_joint_voltage", vector6d_t() },
   { "actual_digital_output_bits", uint64_t() },
+  { "actual_configurable_digital_output_bits", uint64_t() },
   { "runtime_state", uint32_t() },
   { "elbow_position", vector3d_t() },
   { "elbow_velocity", vector3d_t() },
@@ -77,18 +326,6 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "standard_analog_output0", double() },
   { "standard_analog_output1", double() },
   { "io_current", double() },
-  { "euromap67_input_bits", uint32_t() },
-  { "euromap67_output_bits", uint32_t() },
-  { "euromap67_24V_voltage", double() },
-  { "euromap67_24V_current", double() },
-  { "tool_mode", uint32_t() },
-  { "tool_analog_input_types", uint32_t() },
-  { "tool_analog_input0", double() },
-  { "tool_analog_input1", double() },
-  { "tool_output_voltage", int32_t() },
-  { "tool_output_current", double() },
-  { "tool_temperature", double() },
-  { "tcp_force_scalar", double() },
   { "output_bit_registers0_to_31", uint32_t() },
   { "output_bit_registers32_to_63", uint32_t() },
   { "output_bit_register_0", bool() },
@@ -315,256 +552,38 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "output_double_register_45", double() },
   { "output_double_register_46", double() },
   { "output_double_register_47", double() },
-  { "input_bit_registers0_to_31", uint32_t() },
-  { "input_bit_registers32_to_63", uint32_t() },
-  { "input_bit_register_0", bool() },
-  { "input_bit_register_1", bool() },
-  { "input_bit_register_2", bool() },
-  { "input_bit_register_3", bool() },
-  { "input_bit_register_4", bool() },
-  { "input_bit_register_5", bool() },
-  { "input_bit_register_6", bool() },
-  { "input_bit_register_7", bool() },
-  { "input_bit_register_8", bool() },
-  { "input_bit_register_9", bool() },
-  { "input_bit_register_10", bool() },
-  { "input_bit_register_11", bool() },
-  { "input_bit_register_12", bool() },
-  { "input_bit_register_13", bool() },
-  { "input_bit_register_14", bool() },
-  { "input_bit_register_15", bool() },
-  { "input_bit_register_16", bool() },
-  { "input_bit_register_17", bool() },
-  { "input_bit_register_18", bool() },
-  { "input_bit_register_19", bool() },
-  { "input_bit_register_20", bool() },
-  { "input_bit_register_21", bool() },
-  { "input_bit_register_22", bool() },
-  { "input_bit_register_23", bool() },
-  { "input_bit_register_24", bool() },
-  { "input_bit_register_25", bool() },
-  { "input_bit_register_26", bool() },
-  { "input_bit_register_27", bool() },
-  { "input_bit_register_28", bool() },
-  { "input_bit_register_29", bool() },
-  { "input_bit_register_30", bool() },
-  { "input_bit_register_31", bool() },
-  { "input_bit_register_32", bool() },
-  { "input_bit_register_33", bool() },
-  { "input_bit_register_34", bool() },
-  { "input_bit_register_35", bool() },
-  { "input_bit_register_36", bool() },
-  { "input_bit_register_37", bool() },
-  { "input_bit_register_38", bool() },
-  { "input_bit_register_39", bool() },
-  { "input_bit_register_40", bool() },
-  { "input_bit_register_41", bool() },
-  { "input_bit_register_42", bool() },
-  { "input_bit_register_43", bool() },
-  { "input_bit_register_44", bool() },
-  { "input_bit_register_45", bool() },
-  { "input_bit_register_46", bool() },
-  { "input_bit_register_47", bool() },
-  { "input_bit_register_48", bool() },
-  { "input_bit_register_49", bool() },
-  { "input_bit_register_50", bool() },
-  { "input_bit_register_51", bool() },
-  { "input_bit_register_52", bool() },
-  { "input_bit_register_53", bool() },
-  { "input_bit_register_54", bool() },
-  { "input_bit_register_55", bool() },
-  { "input_bit_register_56", bool() },
-  { "input_bit_register_57", bool() },
-  { "input_bit_register_58", bool() },
-  { "input_bit_register_59", bool() },
-  { "input_bit_register_60", bool() },
-  { "input_bit_register_61", bool() },
-  { "input_bit_register_62", bool() },
-  { "input_bit_register_63", bool() },
-  { "input_bit_register_64", bool() },
-  { "input_bit_register_65", bool() },
-  { "input_bit_register_66", bool() },
-  { "input_bit_register_67", bool() },
-  { "input_bit_register_68", bool() },
-  { "input_bit_register_69", bool() },
-  { "input_bit_register_70", bool() },
-  { "input_bit_register_71", bool() },
-  { "input_bit_register_72", bool() },
-  { "input_bit_register_73", bool() },
-  { "input_bit_register_74", bool() },
-  { "input_bit_register_75", bool() },
-  { "input_bit_register_76", bool() },
-  { "input_bit_register_77", bool() },
-  { "input_bit_register_78", bool() },
-  { "input_bit_register_79", bool() },
-  { "input_bit_register_80", bool() },
-  { "input_bit_register_81", bool() },
-  { "input_bit_register_82", bool() },
-  { "input_bit_register_83", bool() },
-  { "input_bit_register_84", bool() },
-  { "input_bit_register_85", bool() },
-  { "input_bit_register_86", bool() },
-  { "input_bit_register_87", bool() },
-  { "input_bit_register_88", bool() },
-  { "input_bit_register_89", bool() },
-  { "input_bit_register_90", bool() },
-  { "input_bit_register_91", bool() },
-  { "input_bit_register_92", bool() },
-  { "input_bit_register_93", bool() },
-  { "input_bit_register_94", bool() },
-  { "input_bit_register_95", bool() },
-  { "input_bit_register_96", bool() },
-  { "input_bit_register_97", bool() },
-  { "input_bit_register_98", bool() },
-  { "input_bit_register_99", bool() },
-  { "input_bit_register_100", bool() },
-  { "input_bit_register_101", bool() },
-  { "input_bit_register_102", bool() },
-  { "input_bit_register_103", bool() },
-  { "input_bit_register_104", bool() },
-  { "input_bit_register_105", bool() },
-  { "input_bit_register_106", bool() },
-  { "input_bit_register_107", bool() },
-  { "input_bit_register_108", bool() },
-  { "input_bit_register_109", bool() },
-  { "input_bit_register_110", bool() },
-  { "input_bit_register_111", bool() },
-  { "input_bit_register_112", bool() },
-  { "input_bit_register_113", bool() },
-  { "input_bit_register_114", bool() },
-  { "input_bit_register_115", bool() },
-  { "input_bit_register_116", bool() },
-  { "input_bit_register_117", bool() },
-  { "input_bit_register_118", bool() },
-  { "input_bit_register_119", bool() },
-  { "input_bit_register_120", bool() },
-  { "input_bit_register_121", bool() },
-  { "input_bit_register_122", bool() },
-  { "input_bit_register_123", bool() },
-  { "input_bit_register_124", bool() },
-  { "input_bit_register_125", bool() },
-  { "input_bit_register_126", bool() },
-  { "input_bit_register_127", bool() },
-  { "input_int_register_0", int32_t() },
-  { "input_int_register_1", int32_t() },
-  { "input_int_register_2", int32_t() },
-  { "input_int_register_3", int32_t() },
-  { "input_int_register_4", int32_t() },
-  { "input_int_register_5", int32_t() },
-  { "input_int_register_6", int32_t() },
-  { "input_int_register_7", int32_t() },
-  { "input_int_register_8", int32_t() },
-  { "input_int_register_9", int32_t() },
-  { "input_int_register_10", int32_t() },
-  { "input_int_register_11", int32_t() },
-  { "input_int_register_12", int32_t() },
-  { "input_int_register_13", int32_t() },
-  { "input_int_register_14", int32_t() },
-  { "input_int_register_15", int32_t() },
-  { "input_int_register_16", int32_t() },
-  { "input_int_register_17", int32_t() },
-  { "input_int_register_18", int32_t() },
-  { "input_int_register_19", int32_t() },
-  { "input_int_register_20", int32_t() },
-  { "input_int_register_21", int32_t() },
-  { "input_int_register_22", int32_t() },
-  { "input_int_register_23", int32_t() },
-  { "input_int_register_24", int32_t() },
-  { "input_int_register_25", int32_t() },
-  { "input_int_register_26", int32_t() },
-  { "input_int_register_27", int32_t() },
-  { "input_int_register_28", int32_t() },
-  { "input_int_register_29", int32_t() },
-  { "input_int_register_30", int32_t() },
-  { "input_int_register_31", int32_t() },
-  { "input_int_register_32", int32_t() },
-  { "input_int_register_33", int32_t() },
-  { "input_int_register_34", int32_t() },
-  { "input_int_register_35", int32_t() },
-  { "input_int_register_36", int32_t() },
-  { "input_int_register_37", int32_t() },
-  { "input_int_register_38", int32_t() },
-  { "input_int_register_39", int32_t() },
-  { "input_int_register_40", int32_t() },
-  { "input_int_register_41", int32_t() },
-  { "input_int_register_42", int32_t() },
-  { "input_int_register_43", int32_t() },
-  { "input_int_register_44", int32_t() },
-  { "input_int_register_45", int32_t() },
-  { "input_int_register_46", int32_t() },
-  { "input_int_register_47", int32_t() },
-  { "input_double_register_0", double() },
-  { "input_double_register_1", double() },
-  { "input_double_register_2", double() },
-  { "input_double_register_3", double() },
-  { "input_double_register_4", double() },
-  { "input_double_register_5", double() },
-  { "input_double_register_6", double() },
-  { "input_double_register_7", double() },
-  { "input_double_register_8", double() },
-  { "input_double_register_9", double() },
-  { "input_double_register_10", double() },
-  { "input_double_register_11", double() },
-  { "input_double_register_12", double() },
-  { "input_double_register_13", double() },
-  { "input_double_register_14", double() },
-  { "input_double_register_15", double() },
-  { "input_double_register_16", double() },
-  { "input_double_register_17", double() },
-  { "input_double_register_18", double() },
-  { "input_double_register_19", double() },
-  { "input_double_register_20", double() },
-  { "input_double_register_21", double() },
-  { "input_double_register_22", double() },
-  { "input_double_register_23", double() },
-  { "input_double_register_24", double() },
-  { "input_double_register_25", double() },
-  { "input_double_register_26", double() },
-  { "input_double_register_27", double() },
-  { "input_double_register_28", double() },
-  { "input_double_register_29", double() },
-  { "input_double_register_30", double() },
-  { "input_double_register_31", double() },
-  { "input_double_register_32", double() },
-  { "input_double_register_33", double() },
-  { "input_double_register_34", double() },
-  { "input_double_register_35", double() },
-  { "input_double_register_36", double() },
-  { "input_double_register_37", double() },
-  { "input_double_register_38", double() },
-  { "input_double_register_39", double() },
-  { "input_double_register_40", double() },
-  { "input_double_register_41", double() },
-  { "input_double_register_42", double() },
-  { "input_double_register_43", double() },
-  { "input_double_register_44", double() },
-  { "input_double_register_45", double() },
-  { "input_double_register_46", double() },
-  { "input_double_register_47", double() },
-  { "speed_slider_mask", uint32_t() },
-  { "speed_slider_fraction", double() },
-  { "standard_digital_output_mask", uint8_t() },
-  { "standard_digital_output", uint8_t() },
-  { "configurable_digital_output_mask", uint8_t() },
-  { "configurable_digital_output", uint8_t() },
-  { "tool_digital_output_mask", uint8_t() },
+  { "actual_robot_energy_consumed", double() },
+  { "actual_robot_braking_energy_dissipated", double() },
+  { "encoder0_raw", int32_t() },
+  { "encoder1_raw", int32_t() },
+  { "euromap67_input_bits", uint32_t() },
+  { "euromap67_output_bits", uint32_t() },
+  { "euromap67_24V_voltage", double() },
+  { "euromap67_24V_current", double() },
+  { "tool_mode", uint32_t() },
+  { "tool_analog_input_types", uint32_t() },
+  { "tool_analog_input0", double() },
+  { "tool_analog_input1", double() },
+  { "tool_output_voltage", int32_t() },
+  { "tool_output_current", double() },
+  { "tool_temperature", double() },
   { "tool_output_mode", uint8_t() },
   { "tool_digital_output0_mode", uint8_t() },
   { "tool_digital_output1_mode", uint8_t() },
-  { "tool_digital_output", uint8_t() },
+  { "tcp_force_scalar", double() },
+  { "joint_position_deviation_ratio", double() },
+  { "collision_detection_ratio", double() },
+  { "ft_raw_wrench", vector6d_t() },
+  { "wrench_calc_from_currents", vector6d_t() },
   { "payload", double() },
   { "payload_cog", vector3d_t() },
   { "payload_inertia", vector6d_t() },
   { "script_control_line", uint32_t() },
-  { "ft_raw_wrench", vector6d_t() },
-  { "joint_position_deviation_ratio", double() },
-  { "collision_detection_ratio", double() },
   { "time_scale_source", int32_t() },
-  { "standard_analog_output_mask", uint8_t() },
-  { "standard_analog_output_type", uint8_t() },
-  { "standard_analog_output_0", double() },
-  { "standard_analog_output_1", double() },
-  { "tcp_offset", vector6d_t() },
+
+  // NOT IN OFFICIAL DOCS
+  { "tool_digital_output_mask", uint8_t() },
+  { "tool_digital_output", uint8_t() },
 };
 
 void rtde_interface::DataPackage::initEmpty()
diff --git a/src/rtde/rtde_client.cpp b/src/rtde/rtde_client.cpp
index c804041ad..425dc981d 100644
--- a/src/rtde/rtde_client.cpp
+++ b/src/rtde/rtde_client.cpp
@@ -287,7 +287,7 @@ void RTDEClient::setupOutputs(const uint16_t protocol_version)
   unsigned int num_retries = 0;
   size_t size;
   size_t written;
-  uint8_t buffer[8192];
+  uint8_t buffer[65536];
   URCL_LOG_INFO("Setting up RTDE communication with frequency %f", target_frequency_);
 
   while (num_retries < MAX_REQUEST_RETRIES)
@@ -717,4 +717,4 @@ std::vector<std::string> RTDEClient::splitVariableTypes(const std::string& varia
   return result;
 }
 }  // namespace rtde_interface
-}  // namespace urcl
\ No newline at end of file
+}  // namespace urcl
diff --git a/tests/resources/exhaustive_rtde_output_recipe.txt b/tests/resources/exhaustive_rtde_output_recipe.txt
index 0d87fc963..e0df0aa2a 100644
--- a/tests/resources/exhaustive_rtde_output_recipe.txt
+++ b/tests/resources/exhaustive_rtde_output_recipe.txt
@@ -8,15 +8,21 @@ actual_q
 actual_qd
 actual_current
 actual_current_window
+actual_current_as_torque
 joint_control_output
 actual_TCP_pose
 actual_TCP_speed
 actual_TCP_force
 target_TCP_pose
 target_TCP_speed
+tcp_offset
+actual_TCP_acceleration
+target_TCP_acceleration
 actual_digital_input_bits
+actual_configurable_digital_input_bits
 joint_temperatures
 actual_execution_time
+target_execution_time
 robot_mode
 joint_mode
 safety_mode
@@ -30,6 +36,7 @@ actual_robot_voltage
 actual_robot_current
 actual_joint_voltage
 actual_digital_output_bits
+actual_configurable_digital_output_bits
 runtime_state
 elbow_position
 elbow_velocity
@@ -41,6 +48,10 @@ standard_analog_input1
 standard_analog_output0
 standard_analog_output1
 io_current
+actual_robot_energy_consumed
+actual_robot_braking_energy_dissipated
+encoder0_raw
+encoder1_raw
 euromap67_input_bits
 euromap67_output_bits
 euromap67_24V_voltage
@@ -52,7 +63,19 @@ tool_analog_input1
 tool_output_voltage
 tool_output_current
 tool_temperature
+tool_output_mode
+tool_digital_output0_mode
+tool_digital_output1_mode
 tcp_force_scalar
+joint_position_deviation_ratio
+collision_detection_ratio
+ft_raw_wrench
+wrench_calc_from_currents
+payload
+payload_cog
+payload_inertia
+script_control_line
+time_scale_source
 output_bit_registers0_to_31
 output_bit_registers32_to_63
 output_bit_register_64
@@ -281,6 +304,54 @@ input_bit_register_124
 input_bit_register_125
 input_bit_register_126
 input_bit_register_127
+input_int_register_0
+input_int_register_1
+input_int_register_2
+input_int_register_3
+input_int_register_4
+input_int_register_5
+input_int_register_6
+input_int_register_7
+input_int_register_8
+input_int_register_9
+input_int_register_10
+input_int_register_11
+input_int_register_12
+input_int_register_13
+input_int_register_14
+input_int_register_15
+input_int_register_16
+input_int_register_17
+input_int_register_18
+input_int_register_19
+input_int_register_20
+input_int_register_21
+input_int_register_22
+input_int_register_23
+input_int_register_24
+input_int_register_25
+input_int_register_26
+input_int_register_27
+input_int_register_28
+input_int_register_29
+input_int_register_30
+input_int_register_31
+input_int_register_32
+input_int_register_33
+input_int_register_34
+input_int_register_35
+input_int_register_36
+input_int_register_37
+input_int_register_38
+input_int_register_39
+input_int_register_40
+input_int_register_41
+input_int_register_42
+input_int_register_43
+input_int_register_44
+input_int_register_45
+input_int_register_46
+input_int_register_47
 input_double_register_0
 input_double_register_1
 input_double_register_2
@@ -329,14 +400,3 @@ input_double_register_44
 input_double_register_45
 input_double_register_46
 input_double_register_47
-tool_output_mode
-tool_digital_output0_mode
-tool_digital_output1_mode
-payload
-payload_cog
-payload_inertia
-script_control_line
-ft_raw_wrench
-joint_position_deviation_ratio
-collision_detection_ratio
-time_scale_source