# RAPID Programming **URL:** https://tech-community.robotics.abb.com/c/rapid-programming/13.md [Latest](https://tech-community.robotics.abb.com/latest.md) · [Categories](https://tech-community.robotics.abb.com/categories.md) · [Tags](https://tech-community.robotics.abb.com/tags.md) --- ## [About the RAPID Programming category](https://tech-community.robotics.abb.com/t/about-the-rapid-programming-category/45)
**Author:** [@Katja\_B](https://tech-community.robotics.abb.com/u/Katja_B)\ **Replies:** 0\ **Last updated:** [December 3, 2025, 11:08am UTC](https://tech-community.robotics.abb.com/t/about-the-rapid-programming-category/45 "2025-12-03T11:08:42Z")
Discussions about RAPID programming and related topics such as I/O and socket communication --- ## [ABB\_LIB\_Base semantic error in OmniCore RW8.1.1](https://tech-community.robotics.abb.com/t/abb-lib-base-semantic-error-in-omnicore-rw8-1-1/15140)
**Author:** [@Karoly\_Varga](https://tech-community.robotics.abb.com/u/Karoly_Varga)\ **Replies:** 1\ **Last updated:** [September 16, 2026, 4:15pm UTC](https://tech-community.robotics.abb.com/t/abb-lib-base-semantic-error-in-omnicore-rw8-1-1/15140 "2026-09-16T16:15:41Z")
May i ask for support in this semantic error topic. During migration of ABB\_LIB\_Base.sys from RW6.9 to RW8.1.1 got the following error: --- ## [How to create functional exercise commands that meet one's own needs?](https://tech-community.robotics.abb.com/t/how-to-create-functional-exercise-commands-that-meet-ones-own-needs/15134)
**Author:** [@胡林峰\_胡](https://tech-community.robotics.abb.com/u/%E8%83%A1%E6%9E%97%E5%B3%B0_%E8%83%A1)\ **Replies:** 4\ **Last updated:** [September 11, 2026, 3:38pm UTC](https://tech-community.robotics.abb.com/t/how-to-create-functional-exercise-commands-that-meet-ones-own-needs/15134 "2026-09-11T15:38:30Z")
Hello friends, I have encountered some problems while using ABB. My idea is to create functional motion commands that meet my needs. The motion commands need to include IO interaction signals, speed, tool coordinates, an… --- ## [Integration robot with Cognex camera](https://tech-community.robotics.abb.com/t/integration-robot-with-cognex-camera/15132)
**Author:** [@Beginner\_programmer](https://tech-community.robotics.abb.com/u/Beginner_programmer)\ **Replies:** 0\ **Last updated:** [September 9, 2026, 9:16am UTC](https://tech-community.robotics.abb.com/t/integration-robot-with-cognex-camera/15132 "2026-09-09T09:16:39Z")
Hi guys, I’ve been assigned a task to integrate an ABB robot with a Cognex 8900 camera on an existing production line. The controller installed on the line is an IRC5. I need to modify the existing robot program and ad… --- ## [Naming convention for datatypes](https://tech-community.robotics.abb.com/t/naming-convention-for-datatypes/15123)
**Author:** [@RayBland](https://tech-community.robotics.abb.com/u/RayBland)\ **Replies:** 4\ **Last updated:** [September 2, 2026, 10:21am UTC](https://tech-community.robotics.abb.com/t/naming-convention-for-datatypes/15123 "2026-09-02T10:21:15Z")
Hi - newbie here so finding my feet with conventions etc. Simple question: is there a still a list of suggested prefixes for datatypes? I’ve entered a realm of RAPID programming which is relatively new to me and the … --- ## [RAPID Registers](https://tech-community.robotics.abb.com/t/rapid-registers/9768)
**Author:** [@RobertSmutylo](https://tech-community.robotics.abb.com/u/RobertSmutylo)\ **Replies:** 11\ **Last updated:** [August 11, 2026, 2:04pm UTC](https://tech-community.robotics.abb.com/t/rapid-registers/9768 "2026-08-11T14:04:50Z")
In the “RAPID Instructions, Functions and Data types” manual and others I see references to using registers (“Add reg1, 3;”) but I can’t find a description of those registers anywhere. Can someone point me to where I can… --- ## [PROMIA and Virtual Controller](https://tech-community.robotics.abb.com/t/promia-and-virtual-controller/12124)
**Author:** [@Roby\_XYZ](https://tech-community.robotics.abb.com/u/Roby_XYZ)\ **Replies:** 5\ **Last updated:** [August 5, 2026, 4:08pm UTC](https://tech-community.robotics.abb.com/t/promia-and-virtual-controller/12124 "2026-08-05T16:08:01Z")
Hi to everyone and Happy New Year!! I have to develop a program for Renault in PROMIA. I have an old backup with PROMIA Version 50.61.1701.17 and Robotware 5.61 I’m trying to generate a virtual controller in Robotstud… --- ## [Encoding Rapid Files](https://tech-community.robotics.abb.com/t/encoding-rapid-files/1782)
**Author:** [@jhweppler](https://tech-community.robotics.abb.com/u/jhweppler)\ **Replies:** 80\ **Last updated:** [August 3, 2026, 1:35pm UTC](https://tech-community.robotics.abb.com/t/encoding-rapid-files/1782 "2026-08-03T13:35:07Z")
Hey All. I want to encode my Rapid source code such that it cannot be viewed by anyone else. How do I do this. Can anyone please help?? Thank You Justin --- ## [Modify the state of a boolean variable](https://tech-community.robotics.abb.com/t/modify-the-state-of-a-boolean-variable/15016)
**Author:** [@Pierre\_BELLER](https://tech-community.robotics.abb.com/u/Pierre_BELLER)\ **Replies:** 7\ **Last updated:** [July 14, 2026, 2:21am UTC](https://tech-community.robotics.abb.com/t/modify-the-state-of-a-boolean-variable/15016 "2026-07-14T02:21:44Z")
Hello guys, How can I modify the state of a boolean variable on the Teach Pendant when the omicore controller is in automatic. Thank you in advance for your support. --- ## [How to catch event 50139 in a RAPID program](https://tech-community.robotics.abb.com/t/how-to-catch-event-50139-in-a-rapid-program/15017)
**Author:** [@bamboo\_wu](https://tech-community.robotics.abb.com/u/bamboo_wu)\ **Replies:** 0\ **Last updated:** [June 17, 2026, 2:30am UTC](https://tech-community.robotics.abb.com/t/how-to-catch-event-50139-in-a-rapid-program/15017 "2026-06-17T02:30:10Z")
When a RAPID program makes the robot arm grab a specific target, while waiting for the gripper to close, the robot arm keeps moving forward with the conveyor, which maybe trigger a 50139 event and stop. I want to catch t… --- ## [Continuous Torque Measuring](https://tech-community.robotics.abb.com/t/continuous-torque-measuring/11041)
**Author:** [@SomeTekk](https://tech-community.robotics.abb.com/u/SomeTekk)\ **Replies:** 4\ **Last updated:** [April 22, 2026, 8:18am UTC](https://tech-community.robotics.abb.com/t/continuous-torque-measuring/11041 "2026-04-22T08:18:48Z")
Has anyone had success in creating RAPID code for RW 5.15.XX that continuously measures motor torque? In this facility it has been requested to continuously monitor torque on multiple systems that are exclusively non-TC… --- ## [Force Control contact behavior](https://tech-community.robotics.abb.com/t/force-control-contact-behavior/12102)
**Author:** [@grth46](https://tech-community.robotics.abb.com/u/grth46)\ **Replies:** 1\ **Last updated:** [April 14, 2026, 3:19pm UTC](https://tech-community.robotics.abb.com/t/force-control-contact-behavior/12102 "2026-04-14T15:19:32Z")
Hi there, I am currently trying to use an IRB6700 for a stiffness testing application. At first the robot should generate contact between its tool and the part while maintaining a given contact force for a few seconds. T… --- ## [Best Practice for Top Level of robot program](https://tech-community.robotics.abb.com/t/best-practice-for-top-level-of-robot-program/10390)
**Author:** [@Jaycephus](https://tech-community.robotics.abb.com/u/Jaycephus)\ **Replies:** 2\ **Last updated:** [April 13, 2026, 3:32pm UTC](https://tech-community.robotics.abb.com/t/best-practice-for-top-level-of-robot-program/10390 "2026-04-13T15:32:36Z")
In my past robot projects on other platforms, especially if working with PLC control, I create a main loop, and a command processor within that loop. A handshaking protocol is created for each application, but often look… --- ## [How to change Task folder names in backup folder (TASK1, TASK2,TASK3,...)?](https://tech-community.robotics.abb.com/t/how-to-change-task-folder-names-in-backup-folder-task1-task2-task3/11740)
**Author:** [@linh\_le\_vn](https://tech-community.robotics.abb.com/u/linh_le_vn)\ **Replies:** 5\ **Last updated:** [March 19, 2026, 2:09pm UTC](https://tech-community.robotics.abb.com/t/how-to-change-task-folder-names-in-backup-folder-task1-task2-task3/11740 "2026-03-19T14:09:57Z")
Hi everyone. There are many robots with identical function in my company. When I create backup from these robots, I see the difference in Task folder names. For example: In robot program, there are 3 task: T\_Rob1, T\_V… --- ## [How to protect a RAPID code?](https://tech-community.robotics.abb.com/t/how-to-protect-a-rapid-code/12126)
**Author:** [@simone](https://tech-community.robotics.abb.com/u/simone)\ **Replies:** 10\ **Last updated:** [January 16, 2026, 12:53pm UTC](https://tech-community.robotics.abb.com/t/how-to-protect-a-rapid-code/12126 "2026-01-16T12:53:49Z")
Is it possible to protect RAPID code? That is, create protected routines that can be called but not accessible. Thank you!! --- ## [World Zone](https://tech-community.robotics.abb.com/t/world-zone/12110)
**Author:** [@sahars](https://tech-community.robotics.abb.com/u/sahars)\ **Replies:** 6\ **Last updated:** [January 15, 2026, 1:30pm UTC](https://tech-community.robotics.abb.com/t/world-zone/12110 "2026-01-15T13:30:29Z")
Hi, how can I create world zone with fixed tool and robot holding the work object? I need to create a zone around the tool so when robot enters the zone set a DO to 1. --- ## [How to control speed change during FCRefForce movement?](https://tech-community.robotics.abb.com/t/how-to-control-speed-change-during-fcrefforce-movement/12103)
**Author:** [@grth46](https://tech-community.robotics.abb.com/u/grth46)\ **Replies:** 4\ **Last updated:** [January 12, 2026, 3:13pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-speed-change-during-fcrefforce-movement/12103 "2026-01-12T15:13:41Z")
I am using the following code to achieve a contact force between tool and workobject. FCRefForce\\Fz:=500; FCCondForce\\ZMax:=500,60; FCSetDampingTune 9E+09,9E+09,6250,9E+09,9E+09,9E+09; FCRefStart; FCCondWaitWhile; … --- ## [SocketBind and how to use it](https://tech-community.robotics.abb.com/t/socketbind-and-how-to-use-it/12081)
**Author:** [@RookieWithRobots75](https://tech-community.robotics.abb.com/u/RookieWithRobots75)\ **Replies:** 1\ **Last updated:** [December 31, 2025, 8:20am UTC](https://tech-community.robotics.abb.com/t/socketbind-and-how-to-use-it/12081 "2025-12-31T08:20:07Z")
So I have OmniCore E10 Controller which has physically four ethernet ports. WAN1, WAN2, Device and MGMT. WAN1 we normally used with ProfiNet+Safe communication and now we also need to add additional device (Cognex camera… --- ## [Measure the path's length](https://tech-community.robotics.abb.com/t/measure-the-paths-length/9516)
**Author:** [@dragolollo](https://tech-community.robotics.abb.com/u/dragolollo)\ **Replies:** 7\ **Last updated:** [November 14, 2025, 4:05pm UTC](https://tech-community.robotics.abb.com/t/measure-the-paths-length/9516 "2025-11-14T16:05:18Z")
Hello, I would like to measure the length of the path that is followed by the tool…is it possible to do it in someway? Thank you. --- ## [\[Integrated Vision\] CamGetResult problems](https://tech-community.robotics.abb.com/t/integrated-vision-camgetresult-problems/8622)
**Author:** [@hje](https://tech-community.robotics.abb.com/u/hje)\ **Replies:** 5\ **Last updated:** [November 13, 2025, 11:48am UTC](https://tech-community.robotics.abb.com/t/integrated-vision-camgetresult-problems/8622 "2025-11-13T11:48:05Z")
I’m having a problem with getting info from the camera to RAPID using CamGetResult. The problem is that it doesn’t work. So a client is trying to use an ABB Integrated Vision camera. Robot moves a product in front of … --- ## [Real time monitoring of I/O](https://tech-community.robotics.abb.com/t/real-time-monitoring-of-i-o/12057)
**Author:** [@Dave37568](https://tech-community.robotics.abb.com/u/Dave37568)\ **Replies:** 4\ **Last updated:** [October 23, 2025, 2:20am UTC](https://tech-community.robotics.abb.com/t/real-time-monitoring-of-i-o/12057 "2025-10-23T02:20:04Z")
How do I monitor inputs all of the time with ABB Rapid programming, even when the Robot is not moving? I would like to monitor two vacuum inputs, BP11 (input 617) and BP12 (input 618). If either one of these are true, I … --- ## [What role do the Tool and WObj arguments play in a MoveAbsJ instruction?](https://tech-community.robotics.abb.com/t/what-role-do-the-tool-and-wobj-arguments-play-in-a-moveabsj-instruction/12052)
**Author:** [@vibhuti](https://tech-community.robotics.abb.com/u/vibhuti)\ **Replies:** 1\ **Last updated:** [October 16, 2025, 8:39am UTC](https://tech-community.robotics.abb.com/t/what-role-do-the-tool-and-wobj-arguments-play-in-a-moveabsj-instruction/12052 "2025-10-16T08:39:46Z")
What role do the Tool and WObj arguments play in a MoveAbsJ instruction? --- ## [Trigger/ TriggInt werden erst bei Fine-Point ausgelöst](https://tech-community.robotics.abb.com/t/trigger-triggint-werden-erst-bei-fine-point-ausgelost/12021)
**Author:** [@Eva](https://tech-community.robotics.abb.com/u/Eva)\ **Replies:** 1\ **Last updated:** [October 7, 2025, 9:03am UTC](https://tech-community.robotics.abb.com/t/trigger-triggint-werden-erst-bei-fine-point-ausgelost/12021 "2025-10-07T09:03:53Z")
Liebe Community, mein Ziel ist es, dass der Roboter an jedem Punkt seine Position kennt, weswegen ich mehrere Trigger auf einen Punkt setzen will, so wie es auch bei KUKA möglich ist. Aktuell löse ich das über MoveJSyn… --- ## [If logic not working correctly](https://tech-community.robotics.abb.com/t/if-logic-not-working-correctly/12033)
**Author:** [@jodycarraway](https://tech-community.robotics.abb.com/u/jodycarraway)\ **Replies:** 3\ **Last updated:** [September 27, 2025, 7:48pm UTC](https://tech-community.robotics.abb.com/t/if-logic-not-working-correctly/12033 "2025-09-27T19:48:44Z")
I have the below code in a PROC and am passing a few variables to it move a target based on an angle that is passed from the PLC, one being the Angle\_Data. there are values numbers passed like 0.35 -141 -36.8 0.35 is su… --- ## [Atomic operation or not (RW 6.15.08)](https://tech-community.robotics.abb.com/t/atomic-operation-or-not-rw-6-15-08/12012)
**Author:** [@RH\_Saar](https://tech-community.robotics.abb.com/u/RH_Saar)\ **Replies:** 0\ **Last updated:** [August 26, 2025, 1:11pm UTC](https://tech-community.robotics.abb.com/t/atomic-operation-or-not-rw-6-15-08/12012 "2025-08-26T13:11:15Z")
Hi. I have these lines in code and once per week or just random i have error out of bounds so that means there is 0 in array position. That should not be, because I always write number 1,2,3 or 4. There are 4 trolleys. … --- ## [How to remove old files from directory (Selected by date)](https://tech-community.robotics.abb.com/t/how-to-remove-old-files-from-directory-selected-by-date/11992)
**Author:** [@Luxrobotic](https://tech-community.robotics.abb.com/u/Luxrobotic)\ **Replies:** 3\ **Last updated:** [August 22, 2025, 8:50am UTC](https://tech-community.robotics.abb.com/t/how-to-remove-old-files-from-directory-selected-by-date/11992 "2025-08-22T08:50:29Z")
Hello evreybody, I’d like to remove the fold files (Older than 1 year) I created with the following code : VAR string stFilePath:=“Home:/BackupLogs/”; VAR string stFileName; VAR iodev logfile; VAR string stPart; … --- ## [Jerk value](https://tech-community.robotics.abb.com/t/jerk-value/11999)
**Author:** [@luciano](https://tech-community.robotics.abb.com/u/luciano)\ **Replies:** 2\ **Last updated:** [August 7, 2025, 7:06am UTC](https://tech-community.robotics.abb.com/t/jerk-value/11999 "2025-08-07T07:06:20Z")
Does anyone know whether and how a value for jerk can be set in a robot program? I mean a precise value expressed in m/s^3, not only a reduction of the “normal values”. Or which are the normal values, referred to by the… --- ## [Synchronize function - How do I actually save my RAPID code?](https://tech-community.robotics.abb.com/t/synchronize-function-how-do-i-actually-save-my-rapid-code/11991)
**Author:** [@bran21](https://tech-community.robotics.abb.com/u/bran21)\ **Replies:** 2\ **Last updated:** [August 5, 2025, 9:53am UTC](https://tech-community.robotics.abb.com/t/synchronize-function-how-do-i-actually-save-my-rapid-code/11991 "2025-08-05T09:53:13Z")
Hello, I recently came across the synchronize function after being told the ‘apply’ button doesn’t actually save your RAPID code. So I am wondering which one I use in my case as I don’t want to lose my updated code. s… --- ## [Is it possible to put routines in a queue?](https://tech-community.robotics.abb.com/t/is-it-possible-to-put-routines-in-a-queue/11788)
**Author:** [@JTO](https://tech-community.robotics.abb.com/u/JTO)\ **Replies:** 5\ **Last updated:** [July 30, 2025, 6:23pm UTC](https://tech-community.robotics.abb.com/t/is-it-possible-to-put-routines-in-a-queue/11788 "2025-07-30T18:23:49Z")
First of all, I’d like to apologize in advance. I’m no stranger to writing programs (particularly welding) on ABB robots but I’m unfamiliar with the more advanced stuff. We just got a new setup that I’m quite unfamiliar … --- ## [Coordinates on Move instructions changed to "\*"](https://tech-community.robotics.abb.com/t/coordinates-on-move-instructions-changed-to/11989)
**Author:** [@tomdee](https://tech-community.robotics.abb.com/u/tomdee)\ **Replies:** 3\ **Last updated:** [July 23, 2025, 11:32am UTC](https://tech-community.robotics.abb.com/t/coordinates-on-move-instructions-changed-to/11989 "2025-07-23T11:32:16Z")
Hi all , Hoping someone can help. Yesterday I ran a program successfully, then today I made a new program with a few changes, nothing crazy. Now no matter what module/program I run, the coordinates in MoveL are replaced… [Next page](https://tech-community.robotics.abb.com/c/rapid-programming/13.md?page=1)