# Read all joints

**URL:** <https://tech-community.robotics.abb.com/t/read-all-joints/9048>\
**Category:** Collaborative Robots\
**Tags:** yumi, rapid-code, robotstudio, abb\
**Created:** [August 22, 2019, 2:02pm UTC](https://tech-community.robotics.abb.com/t/read-all-joints/9048 "2019-08-22T14:02:51Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![LIKUNWANG](https://avatars.discourse-cdn.com/v4/letter/l/848f3c/32.png) [@LIKUNWANG](https://tech-community.robotics.abb.com/u/LIKUNWANG)\
**Post date:** [August 22, 2019, 2:02pm UTC](https://tech-community.robotics.abb.com/t/read-all-joints/9048/1 "2019-08-22T14:02:51Z")

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Hi,

How can I read all the seven joints of YUMI?

Any suggestion will be appreciated!!!

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<div class="post-metadata">

**Author:** ![LeonL](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/leonl/32/2012_2.png) [@LeonL](https://tech-community.robotics.abb.com/u/LeonL)\
**Post date:** [August 26, 2019, 10:57pm UTC](https://tech-community.robotics.abb.com/t/read-all-joints/9048/2 "2019-08-26T22:57:29Z")

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You can calculate and store the joint values with **CJointT()** using RAPID code which reads the current angles of the arm axes and external axes.

## Example:

```auto
VAR jointtarget joints;
joints := CJointT();

```

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<div class="post-metadata">

**Author:** ![LIKUNWANG](https://avatars.discourse-cdn.com/v4/letter/l/848f3c/32.png) [@LIKUNWANG](https://tech-community.robotics.abb.com/u/LIKUNWANG)\
**Post date:** [August 27, 2019, 2:01pm UTC](https://tech-community.robotics.abb.com/t/read-all-joints/9048/3 "2019-08-27T14:01:37Z")

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Thanks a lot!

It is working.