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Another way, if your tables are not huge, is to query the tables separately and join them external to SAP. Build a DB on the fly, create two tables, populate with each tables data, join and get the resultset.I don't believe you can do this in R/3 from Visual Basic without having soeone write a custom query in an R/3 Function Module.
What you really are looking for is an r/3 abap query.
RFC_READ_TABLE will only read single tables.