diff --git a/ipmictl.py b/ipmictl.py
index c98a7f09..e31591ef 100755
--- a/ipmictl.py
+++ b/ipmictl.py
@@ -57,6 +57,9 @@ def docommand(result, ipmisession):
             print ipmisession.set_bootdev(args[0])
         else:
             print ipmisession.get_bootdev()
+    elif cmmand == 'sensors':
+        for reading in ipmisession.get_sensor_data():
+            print repr(reading)
     elif cmmand == 'raw':
         print ipmisession.raw_command(netfn=int(args[0]),
                                       command=int(args[1]),
diff --git a/pyghmi/ipmi/command.py b/pyghmi/ipmi/command.py
index ed0b19f0..27f297f5 100644
--- a/pyghmi/ipmi/command.py
+++ b/pyghmi/ipmi/command.py
@@ -18,6 +18,7 @@
 import pyghmi.exceptions as exc
 
 from pyghmi.ipmi.private import session
+import pyghmi.ipmi.sdr as sdr
 
 
 boot_devices = {
@@ -289,3 +290,21 @@ class Command(object):
         assert(response['command'] == 1 and response['netfn'] == 1)
         self.powerstate = 'on' if (response['data'][0] & 1) else 'off'
         return {'powerstate': self.powerstate}
+
+    def get_sensor_data(self):
+        """Get sensor reading objects
+
+        Iterates sensor reading objects pertaining to the currently
+        managed BMC.
+
+        :returns: Iterator of sdr.SensorReading objects
+        """
+        if '_sdr' not in self.__dict__:
+            self._sdr = sdr.SDR(self)
+        for sensor in self._sdr.get_sensor_numbers():
+            rsp = self.raw_command(command=0x2d, netfn=4, data=(sensor,))
+            if 'error' in rsp:
+                if rsp['code'] == 203:  # Sensor does not exist, optional dev
+                    continue
+                raise Exception(rsp['error'])
+            yield self._sdr.sensors[sensor].decode_sensor_reading(rsp['data'])
diff --git a/pyghmi/ipmi/sdr.py b/pyghmi/ipmi/sdr.py
index 254cdb7d..f4c987a8 100644
--- a/pyghmi/ipmi/sdr.py
+++ b/pyghmi/ipmi/sdr.py
@@ -31,7 +31,6 @@
 import math
 import pyghmi.constants as const
 import pyghmi.exceptions as exc
-import pyghmi.ipmi.command as ipmicmd
 import pyghmi.ipmi.private.constants as ipmiconstants
 import struct
 
@@ -188,18 +187,20 @@ class SensorReading(object):
     def __init__(self, reading, suffix):
         self.health = const.Health.Ok
         self.type = reading['type']
-        if 'health' in reading:
+        self.value = None
+        self.imprecision = None
+        self.states = ()
+        try:
             self.health = reading['health']
-        if 'value' in reading:
             self.value = reading['value']
-        else:
-            self.value = None
-        self.states = reading['states']
+            self.states = reading['states']
+            self.imprecision = reading['imprecision']
+        except KeyError:
+            pass
         if 'unavailable' in reading:
             self.unavailable = 1
         self.units = suffix
         self.name = reading['name']
-        self.imprecision = reading['imprecision']
 
     def __repr__(self):
         return repr({
@@ -410,7 +411,7 @@ class SDREntry(object):
             if reading[2] & 0b100000:
                 output['health'] |= const.Health.Failed
                 output['states'].append(upper + " non-recoverable threshold")
-            return SensorReading(output, self.unit_suffix)
+        return SensorReading(output, self.unit_suffix)
 
     def decode_value(self, value):
         # Take the input value and return meaningful value
@@ -585,6 +586,7 @@ class SDR(object):
 
 if __name__ == "__main__":  # test code
     import os
+    import pyghmi.ipmi.command as ipmicmd
     import sys
     password = os.environ['IPMIPASSWORD']
     bmc = sys.argv[1]