# Accessing Robot Limits programmatically

**URL:** <https://forum.universal-robots.com/t/accessing-robot-limits-programmatically/1919>\
**Category:** Robot Communication\
**Created:** [April 24, 2018, 7:35pm UTC](https://forum.universal-robots.com/t/accessing-robot-limits-programmatically/1919 "2018-04-24T19:35:17Z")\
**Posts on this page:** 1\
**Showing post:** 7

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**Author:** ![inu](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/inu/32/732_2.png) [@inu](https://forum.universal-robots.com/u/inu)\
**Post date:** [April 27, 2018, 2:52pm UTC](https://forum.universal-robots.com/t/accessing-robot-limits-programmatically/1919/7 "2018-04-27T14:52:47Z")

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@anon61872178 Yeah you could look at it that way. The example I showed above using the secondary client interface (30002) shows the min/max of the joint limit:

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/2271f29f9a910c23b2c5a371d60eaffef685bd55.png)

Where the installation file will show you what you currently have your limits set too:

![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/d60048352a19d8709c6b5ad4673d6b15da323443.png)

Then you can also get your actual joint position as well through the secondary client interface - through subpackage 1 - Joint Data.

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