# Robot Simulation Mode - Output TCP, joint data

**URL:** <https://forum.universal-robots.com/t/robot-simulation-mode-output-tcp-joint-data/14908>\
**Category:** Robot Communication\
**Created:** [June 15, 2021, 2:40pm UTC](https://forum.universal-robots.com/t/robot-simulation-mode-output-tcp-joint-data/14908 "2021-06-15T14:40:51Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![pzink](https://avatars.discourse-cdn.com/v4/letter/p/e8c25b/32.png) [@pzink](https://forum.universal-robots.com/u/pzink)\
**Post date:** [June 15, 2021, 2:40pm UTC](https://forum.universal-robots.com/t/robot-simulation-mode-output-tcp-joint-data/14908/1 "2021-06-15T14:40:52Z")

</div>

When running the UR (UR3e) in simulation mode, I’d like to read the simulated TCP and joint values (either over 30001/2/3 or 502/Modbus). Is this possible?