# RAPID Programming **URL:** https://tech-community.robotics.abb.com/c/rapid-programming/13.md?page=1 [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) **Page:** 2 --- ## [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… --- ## [Rapid Encoder](https://tech-community.robotics.abb.com/t/rapid-encoder/10925)
**Author:** [@duesentrieb66](https://tech-community.robotics.abb.com/u/duesentrieb66)\ **Replies:** 6\ **Last updated:** [July 21, 2025, 8:28am UTC](https://tech-community.robotics.abb.com/t/rapid-encoder/10925 "2025-07-21T08:28:11Z")
Hello all, I got a dos program from somewhere (can’t remember) to encrypt Rapid code. The program needs 2 parameters: source and destination file and works great. for multiple files ( I have 20ish) I would have to run … --- ## [Handling Precision Errors in RAPID](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807)
**Author:** [@nolanmaris](https://tech-community.robotics.abb.com/u/nolanmaris)\ **Replies:** 3\ **Last updated:** [July 3, 2025, 2:25am UTC](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807 "2025-07-03T02:25:11Z")
Hello One common challenge in RAPID programming is dealing with slight precision errors in robotic movement. You set an exact target position; but the robot’s tool doesn’t always land perfectly where expected. Is it due… --- ## [Is it possibile to codify a module in rapid?](https://tech-community.robotics.abb.com/t/is-it-possibile-to-codify-a-module-in-rapid/11965)
**Author:** [@tecnico](https://tech-community.robotics.abb.com/u/tecnico)\ **Replies:** 0\ **Last updated:** [June 30, 2025, 11:45am UTC](https://tech-community.robotics.abb.com/t/is-it-possibile-to-codify-a-module-in-rapid/11965 "2025-06-30T11:45:39Z")
Hi, I’m a Rapid programmer, I use abb robots in the company where I work. I want to codify a system module to use for some of my programms but I don’t know how to do it. Thank you. --- ## [i think there is an error in the manual for arcc](https://tech-community.robotics.abb.com/t/i-think-there-is-an-error-in-the-manual-for-arcc/11956)
**Author:** [@casevancouver](https://tech-community.robotics.abb.com/u/casevancouver)\ **Replies:** 2\ **Last updated:** [June 25, 2025, 7:21am UTC](https://tech-community.robotics.abb.com/t/i-think-there-is-an-error-in-the-manual-for-arcc/11956 "2025-06-25T07:21:15Z")
In manual 3hac050988-001 revision L on page 101 rapiod instruction Arcc is explaned, but the text dioes not correspond to the picture, it says the weld starts before P1, but in the picture it starts after p1, and p5 is m… --- ## [TCP UnitSetup Routine](https://tech-community.robotics.abb.com/t/tcp-unitsetup-routine/11950)
**Author:** [@FabioKawamura](https://tech-community.robotics.abb.com/u/FabioKawamura)\ **Replies:** 2\ **Last updated:** [June 24, 2025, 7:43pm UTC](https://tech-community.robotics.abb.com/t/tcp-unitsetup-routine/11950 "2025-06-24T19:43:06Z")
Hello guys! I want to ask somebody that uses ABB robotics in BiW process and use beam to correct TCP in welding guns. I want to know why some robots make TCP Unisetup routine faster then others! I know about +/-24° rotat… --- ## [Trying to get a value at an index point in an array](https://tech-community.robotics.abb.com/t/trying-to-get-a-value-at-an-index-point-in-an-array/11949)
**Author:** [@rhocking](https://tech-community.robotics.abb.com/u/rhocking)\ **Replies:** 1\ **Last updated:** [June 12, 2025, 11:55am UTC](https://tech-community.robotics.abb.com/t/trying-to-get-a-value-at-an-index-point-in-an-array/11949 "2025-06-12T11:55:05Z")
Hello, I am trying to access a certain array index value. Example code: PERS num array{10}; !!! example array \[1,2,3,4,5,6,7,8,9,10\] VAR num maxVal; PROC maxSearch() maxVal := array\[1\] !!! trying to get value at in… --- ## [IndReset after toolchange moves (virtual) axis position 1000's of degrees off](https://tech-community.robotics.abb.com/t/indreset-after-toolchange-moves-virtual-axis-position-1000s-of-degrees-off/11921)
**Author:** [@DamiaanJeurissen](https://tech-community.robotics.abb.com/u/DamiaanJeurissen)\ **Replies:** 4\ **Last updated:** [June 6, 2025, 3:43pm UTC](https://tech-community.robotics.abb.com/t/indreset-after-toolchange-moves-virtual-axis-position-1000s-of-degrees-off/11921 "2025-06-06T15:43:56Z")
Hi, I’m comissioning a machine to have an additional tool, both have a MU100 motor but have different funcitons. One is used to rotate a payout axis for composite winding and the other is used to feed composite tapes th… --- ## [Change Speed between 2 moveL](https://tech-community.robotics.abb.com/t/change-speed-between-2-movel/11940)
**Author:** [@duesentrieb66](https://tech-community.robotics.abb.com/u/duesentrieb66)\ **Replies:** 1\ **Last updated:** [June 5, 2025, 6:56am UTC](https://tech-community.robotics.abb.com/t/change-speed-between-2-movel/11940 "2025-06-05T06:56:21Z")
Hello all, I really need to adapt the speed between 2 points based on a AnalogIn Signal. Like a gas pedal of a car. All my research tells me to split the 2 points to multiple etc. but this is not working for me Right… --- ## [Hello Forums](https://tech-community.robotics.abb.com/t/hello-forums/11933)
**Author:** [@wangchunxiang3333](https://tech-community.robotics.abb.com/u/wangchunxiang3333)\ **Replies:** 0\ **Last updated:** [May 23, 2025, 11:25am UTC](https://tech-community.robotics.abb.com/t/hello-forums/11933 "2025-05-23T11:25:37Z")
First discussion here, Enjoy life in ABB! --- ## [Protect access to Rapid Module and/or Procedures](https://tech-community.robotics.abb.com/t/protect-access-to-rapid-module-and-or-procedures/11922)
**Author:** [@dragolollo](https://tech-community.robotics.abb.com/u/dragolollo)\ **Replies:** 4\ **Last updated:** [May 20, 2025, 12:40pm UTC](https://tech-community.robotics.abb.com/t/protect-access-to-rapid-module-and-or-procedures/11922 "2025-05-20T12:40:31Z")
Hello, Is it possible to protect the access to RAPID Modules and/or Procedures through password? My client asked me to do this in order to prevent the final user to see the code on RobotStudio and on the teach pendant. … --- ## [Left-Hand Gripper Activation Issue on ABB YuMi](https://tech-community.robotics.abb.com/t/left-hand-gripper-activation-issue-on-abb-yumi/11929)
**Author:** [@Virat](https://tech-community.robotics.abb.com/u/Virat)\ **Replies:** 0\ **Last updated:** [May 20, 2025, 9:56am UTC](https://tech-community.robotics.abb.com/t/left-hand-gripper-activation-issue-on-abb-yumi/11929 "2025-05-20T09:56:22Z")
I am currently working with an ABB YuMi robot featuring dual arms and smart ABB servo grippers. However, I am facing an issue with gripper operation. My objective is to activate only the left-hand gripper when a specifi… --- ## [Is it possible to switch the "LeadThrough" function from a spring-like mode to a transparent mode?](https://tech-community.robotics.abb.com/t/is-it-possible-to-switch-the-leadthrough-function-from-a-spring-like-mode-to-a-transparent-mode/11928)
**Author:** [@modan](https://tech-community.robotics.abb.com/u/modan)\ **Replies:** 0\ **Last updated:** [May 19, 2025, 8:46am UTC](https://tech-community.robotics.abb.com/t/is-it-possible-to-switch-the-leadthrough-function-from-a-spring-like-mode-to-a-transparent-mode/11928 "2025-05-19T08:46:29Z")
Hello, I am currently working on a study project in the field of robotics. This project focuses on the use of a collaborative robot from the ABB YuMi IRB 14050 series. To program and simulate the robot’s behavior, I am… --- ## [Assistance Needed – Left-Hand Gripper Activation Issue on ABB YuMi Robot](https://tech-community.robotics.abb.com/t/assistance-needed-left-hand-gripper-activation-issue-on-abb-yumi-robot/11927)
**Author:** [@Virat](https://tech-community.robotics.abb.com/u/Virat)\ **Replies:** 0\ **Last updated:** [May 19, 2025, 8:46am UTC](https://tech-community.robotics.abb.com/t/assistance-needed-left-hand-gripper-activation-issue-on-abb-yumi-robot/11927 "2025-05-19T08:46:29Z")
I am currently working with an ABB YuMi robot featuring dual arms and smart ABB servo grippers. However, I am facing an issue with gripper operation. My objective is to activate only the left-hand gripper when a specifi… --- ## [RobAPI exception Error](https://tech-community.robotics.abb.com/t/robapi-exception-error/11924)
**Author:** [@hozkan](https://tech-community.robotics.abb.com/u/hozkan)\ **Replies:** 0\ **Last updated:** [May 19, 2025, 8:46am UTC](https://tech-community.robotics.abb.com/t/robapi-exception-error/11924 "2025-05-19T08:46:28Z")
When I try to log on the our one of 4600 series robot’s IRC5 controller via service port with robotstudio, I have received below message endless. This error crashed to robotstudio. It didn’t happen same issue on other ro… --- ## [Incorrect behaviour of IndReset after tool change](https://tech-community.robotics.abb.com/t/incorrect-behaviour-of-indreset-after-tool-change/11485)
**Author:** [@Fabri91](https://tech-community.robotics.abb.com/u/Fabri91)\ **Replies:** 1\ **Last updated:** [May 12, 2025, 6:35pm UTC](https://tech-community.robotics.abb.com/t/incorrect-behaviour-of-indreset-after-tool-change/11485 "2025-05-12T18:35:08Z")
Hi all, I’m having an odd issue with the IndReset command. A robot that we’re setting up can load two tools, each equipped with an external axis controlled by the robot’s controller, and set up as separate mechanical u… --- ## [How can i simplify this wrong estructure for this "error handling" ? HELP](https://tech-community.robotics.abb.com/t/how-can-i-simplify-this-wrong-estructure-for-this-error-handling-help/11911)
**Author:** [@JuanTomassi](https://tech-community.robotics.abb.com/u/JuanTomassi)\ **Replies:** 2\ **Last updated:** [May 12, 2025, 12:05pm UTC](https://tech-community.robotics.abb.com/t/how-can-i-simplify-this-wrong-estructure-for-this-error-handling-help/11911 "2025-05-12T12:05:12Z")
Hi, im new in programation in general, i wrote a code following my own logic, and it works but the code is toooo long (900 lines) and i know that there have to be a way of writing this too much short and easy and efficie… --- ## [StopMove overloads motor](https://tech-community.robotics.abb.com/t/stopmove-overloads-motor/11896)
**Author:** [@AlwaysBeBootin](https://tech-community.robotics.abb.com/u/AlwaysBeBootin)\ **Replies:** 9\ **Last updated:** [May 7, 2025, 4:59pm UTC](https://tech-community.robotics.abb.com/t/stopmove-overloads-motor/11896 "2025-05-07T16:59:23Z")
Hi all, I’m working on implementing a trap routine to stop movement of a MU300 mechanical unit controlling an indexing door if the safety area scanner is tripped. I was successfully able to set up the interrupt and trap… --- ## [Get BullsEye TCP deviation magnitudes after QuickCheck successful](https://tech-community.robotics.abb.com/t/get-bullseye-tcp-deviation-magnitudes-after-quickcheck-successful/11901)
**Author:** [@Daper](https://tech-community.robotics.abb.com/u/Daper)\ **Replies:** 7\ **Last updated:** [May 7, 2025, 8:17am UTC](https://tech-community.robotics.abb.com/t/get-bullseye-tcp-deviation-magnitudes-after-quickcheck-successful/11901 "2025-05-07T08:17:40Z")
Hello, I am trying to get the deviation x,y,z of the TCP after the BullsEye successfully made a quickcheck (aka BECheckTcp, e.g. no critical deviation hence no update of the TCP !). I can visually read them from the ev… --- ## [Continue in program after asking question without doing movement twice](https://tech-community.robotics.abb.com/t/continue-in-program-after-asking-question-without-doing-movement-twice/11895)
**Author:** [@AuxiliumD](https://tech-community.robotics.abb.com/u/AuxiliumD)\ **Replies:** 5\ **Last updated:** [May 5, 2025, 4:00pm UTC](https://tech-community.robotics.abb.com/t/continue-in-program-after-asking-question-without-doing-movement-twice/11895 "2025-05-05T16:00:20Z")
I got this really weird behaviour that makes me question everything I’ve done before. I get the robot to move to an initial position. I then put up a UIMessageBox where I ask the user to jog the robot to the correct pos… --- ## [Error Handling with custom error](https://tech-community.robotics.abb.com/t/error-handling-with-custom-error/9641)
**Author:** [@afletch7](https://tech-community.robotics.abb.com/u/afletch7)\ **Replies:** 8\ **Last updated:** [May 1, 2025, 1:40pm UTC](https://tech-community.robotics.abb.com/t/error-handling-with-custom-error/9641 "2025-05-01T13:40:43Z")
I am trying to create an error handler using my Vision system. I am running a camera thru pc interface and I want to run an error routine if my gripper is not holding a part. I have the custom error set up with a RAISE c… --- ## [how i can define and programe a trap routine](https://tech-community.robotics.abb.com/t/how-i-can-define-and-programe-a-trap-routine/11881)
**Author:** [@ManuelDeuser](https://tech-community.robotics.abb.com/u/ManuelDeuser)\ **Replies:** 1\ **Last updated:** [April 10, 2025, 7:30pm UTC](https://tech-community.robotics.abb.com/t/how-i-can-define-and-programe-a-trap-routine/11881 "2025-04-10T19:30:43Z")
how i can define and programe a trap routine --- ## [Error: Type not found: welddata (RobotWare 6.11)](https://tech-community.robotics.abb.com/t/error-type-not-found-welddata-robotware-6-11/11871)
**Author:** [@DominikF](https://tech-community.robotics.abb.com/u/DominikF)\ **Replies:** 2\ **Last updated:** [April 9, 2025, 11:37am UTC](https://tech-community.robotics.abb.com/t/error-type-not-found-welddata-robotware-6-11/11871 "2025-04-09T11:37:17Z")
I am new to ArcWelding. I loaded the AddIn ArcWare for OmniCore and made a simulation for welding work. Through the option Controller → Installation → Modify installation I was able to add the ArcWare 7.xx package to th… --- ## [Welddata: Wrong definition ofr arcdata](https://tech-community.robotics.abb.com/t/welddata-wrong-definition-ofr-arcdata/11846)
**Author:** [@DominikF](https://tech-community.robotics.abb.com/u/DominikF)\ **Replies:** 6\ **Last updated:** [April 9, 2025, 11:36am UTC](https://tech-community.robotics.abb.com/t/welddata-wrong-definition-ofr-arcdata/11846 "2025-04-09T11:36:20Z")
I want to define welddata wd1in RobotStudio. PERS welddata wd1:=\[3,0,\[1,0,26,11,0,206,0,0,0\],\[0,0,0,0,0,0,0,0,0\]\]; I normally define 9 values for the arcdata. When I do that, RobotStudio reports an error and requires 1… --- ## [Robot sometimes stopped](https://tech-community.robotics.abb.com/t/robot-sometimes-stopped/11833)
**Author:** [@Boguslaw](https://tech-community.robotics.abb.com/u/Boguslaw)\ **Replies:** 11\ **Last updated:** [April 1, 2025, 11:51am UTC](https://tech-community.robotics.abb.com/t/robot-sometimes-stopped/11833 "2025-04-01T11:51:04Z")
I have a problem, I’m looking for help! The robot stops at indicator IF nModel \<\> RobGI\_Model AND RobGI\_Model \<\> 0 THEN every now and then I have no idea why. Maybe someone will notice the problem. PROC CycleModel\_M… --- ## [Did anyone worked in SearchEdge and SenseL instruction.](https://tech-community.robotics.abb.com/t/did-anyone-worked-in-searchedge-and-sensel-instruction/11855)
**Author:** [@Parasuraman\_R](https://tech-community.robotics.abb.com/u/Parasuraman_R)\ **Replies:** 0\ **Last updated:** [April 1, 2025, 7:05am UTC](https://tech-community.robotics.abb.com/t/did-anyone-worked-in-searchedge-and-sensel-instruction/11855 "2025-04-01T07:05:29Z")
As per available manual, I had created the program, but the robot doesn’t stops at edge point, It just moves to end point. Due to this issue sometimes the result pose value is not working perfect For your reference, I p… --- ## [Handling motion error 50050](https://tech-community.robotics.abb.com/t/handling-motion-error-50050/11814)
**Author:** [@dragolollo](https://tech-community.robotics.abb.com/u/dragolollo)\ **Replies:** 2\ **Last updated:** [March 31, 2025, 2:22pm UTC](https://tech-community.robotics.abb.com/t/handling-motion-error-50050/11814 "2025-03-31T14:22:03Z")
Hello, I was wondering if it is possible to handle someway the error 50050 " Position outside reach" via Error handler or in some other way. I would like that if this error happens, robot will continue the execution fr… --- ## [How to rotate around an arbitrary axis?](https://tech-community.robotics.abb.com/t/how-to-rotate-around-an-arbitrary-axis/11853)
**Author:** [@nihm20](https://tech-community.robotics.abb.com/u/nihm20)\ **Replies:** 2\ **Last updated:** [March 31, 2025, 9:53am UTC](https://tech-community.robotics.abb.com/t/how-to-rotate-around-an-arbitrary-axis/11853 "2025-03-31T09:53:59Z")
I have defined a new TCP that is offset from tool0. I want to do a rotation around my new tcp’s z-axis (the blue axis in the figure). How do I do that? --- ## [Wobj](https://tech-community.robotics.abb.com/t/wobj/11845)
**Author:** [@rosalino1978](https://tech-community.robotics.abb.com/u/rosalino1978)\ **Replies:** 3\ **Last updated:** [March 26, 2025, 12:14pm UTC](https://tech-community.robotics.abb.com/t/wobj/11845 "2025-03-26T12:14:34Z")
Hello, I’m new to the forum and I need help from an Abb robot programmer. I have a defined workobject, but I would like with the help of an external laser that will give me a decimal value to modify this wobj always tha… --- ## [Lead-through/force mode through Rapid?](https://tech-community.robotics.abb.com/t/lead-through-force-mode-through-rapid/11836)
**Author:** [@dchatzin](https://tech-community.robotics.abb.com/u/dchatzin)\ **Replies:** 0\ **Last updated:** [March 20, 2025, 8:59am UTC](https://tech-community.robotics.abb.com/t/lead-through-force-mode-through-rapid/11836 "2025-03-20T08:59:29Z")
Hey, I have a quick question regarding the YuMi. Is there a way to enable lead-through in a specific axis, e.g. z-axis of the base frame? For example, in Universal Robots you can enable the so called “force mode” that m… [Previous page](https://tech-community.robotics.abb.com/c/rapid-programming/13.md) [Next page](https://tech-community.robotics.abb.com/c/rapid-programming/13.md?page=2)