# YuMi support with PCSDK

**URL:** <https://tech-community.robotics.abb.com/t/yumi-support-with-pcsdk/7863>\
**Category:** Collaborative Robots\
**Created:** [August 23, 2017, 12:51pm UTC](https://tech-community.robotics.abb.com/t/yumi-support-with-pcsdk/7863 "2017-08-23T12:51:34Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![KOS](https://avatars.discourse-cdn.com/v4/letter/k/c5a1d2/32.png) [@KOS](https://tech-community.robotics.abb.com/u/KOS)\
**Post date:** [August 23, 2017, 12:51pm UTC](https://tech-community.robotics.abb.com/t/yumi-support-with-pcsdk/7863/1 "2017-08-23T12:51:34Z")

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Is the YuMi fully supported by the PCSDK?

When I read the axes of the YuMi using the following method I am only returned 6 axes (Rax\_1 to Rax\_6):  
controller.MotionSystem.ActiveMechanicalUnit.GetPosition().RobAx

The YuMi has 7 axes per arm. If it is supported then how do I access the 7th axis?

Any help is welcome. Thanks.

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<div class="post-metadata">

**Author:** ![KOS](https://avatars.discourse-cdn.com/v4/letter/k/c5a1d2/32.png) [@KOS](https://tech-community.robotics.abb.com/u/KOS)\
**Post date:** [August 24, 2017, 10:21am UTC](https://tech-community.robotics.abb.com/t/yumi-support-with-pcsdk/7863/2 "2017-08-24T10:21:50Z")

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Never mind, I have this working now.

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**Author:** ![ZhangKeke](https://avatars.discourse-cdn.com/v4/letter/z/f1d935/32.png) [@ZhangKeke](https://tech-community.robotics.abb.com/u/ZhangKeke)\
**Post date:** [March 15, 2021, 11:08am UTC](https://tech-community.robotics.abb.com/t/yumi-support-with-pcsdk/7863/3 "2021-03-15T11:08:46Z")

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Hello, you should use as below

Task tskRobL = mycontroller.Rapid.GetTask(“tskRobL”);  
var jointL = tskRobL.GetJointTarget();