# RAPID Programming **URL:** https://tech-community.robotics.abb.com/c/rapid-programming/13.md?page=2 [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:** 3 --- ## [I need help rotating an axis for the integrated vision system.](https://tech-community.robotics.abb.com/t/i-need-help-rotating-an-axis-for-the-integrated-vision-system/11810)
**Author:** [@seanotron3333](https://tech-community.robotics.abb.com/u/seanotron3333)\ **Replies:** 1\ **Last updated:** [March 7, 2025, 12:59am UTC](https://tech-community.robotics.abb.com/t/i-need-help-rotating-an-axis-for-the-integrated-vision-system/11810 "2025-03-07T00:59:20Z")
My robot detects and sends the coordinates to rapid but the axis of how it moves are rotated. If the detected point is on the left it moves up and if its on the right it moves down same with if its up or down it goes lef… --- ## [Read txt file coordinate](https://tech-community.robotics.abb.com/t/read-txt-file-coordinate/11816)
**Author:** [@hoanghuy07zz](https://tech-community.robotics.abb.com/u/hoanghuy07zz)\ **Replies:** 5\ **Last updated:** [March 5, 2025, 4:34pm UTC](https://tech-community.robotics.abb.com/t/read-txt-file-coordinate/11816 "2025-03-05T16:34:37Z")
Hello everyone I am just starting to work on a project using ABB Yumi robot to do soldering. Since this is an automated system, it is not possible to jog each point, I have created a .txt file on Home and used RAPID to … --- ## [Discrepancy between the time defined in the movement instruction (\\T) and the actual time required](https://tech-community.robotics.abb.com/t/discrepancy-between-the-time-defined-in-the-movement-instruction-t-and-the-actual-time-required/11817)
**Author:** [@Luca0101](https://tech-community.robotics.abb.com/u/Luca0101)\ **Replies:** 0\ **Last updated:** [March 5, 2025, 9:04am UTC](https://tech-community.robotics.abb.com/t/discrepancy-between-the-time-defined-in-the-movement-instruction-t-and-the-actual-time-required/11817 "2025-03-05T09:04:33Z")
Hi, I realized that in RobotStudio it is possible to define the total time during which the robot moves within a movement instruction. Therefore, I expect that if I specify, for example, 1 second in my movement instructi… --- ## [Is there any way to change what side the robot approaches a target](https://tech-community.robotics.abb.com/t/is-there-any-way-to-change-what-side-the-robot-approaches-a-target/11812)
**Author:** [@seanotron3333](https://tech-community.robotics.abb.com/u/seanotron3333)\ **Replies:** 4\ **Last updated:** [March 4, 2025, 2:27pm UTC](https://tech-community.robotics.abb.com/t/is-there-any-way-to-change-what-side-the-robot-approaches-a-target/11812 "2025-03-04T14:27:20Z")
Currrently the robot always approches from the opposite side the z axis is pointing. but because of the direction i need my x and y axis it has to point that way and the robot approches from behind instead of in front ho… --- ## [Can someone help with transferring a target found in the integrated vision to rapid](https://tech-community.robotics.abb.com/t/can-someone-help-with-transferring-a-target-found-in-the-integrated-vision-to-rapid/11800)
**Author:** [@seanotron3333](https://tech-community.robotics.abb.com/u/seanotron3333)\ **Replies:** 2\ **Last updated:** [February 27, 2025, 5:01pm UTC](https://tech-community.robotics.abb.com/t/can-someone-help-with-transferring-a-target-found-in-the-integrated-vision-to-rapid/11800 "2025-02-27T17:01:34Z")
Ive managed to setup the calibrating and pattern finding. Im using the MoveToDetectedObject snippet and it gets to the part where it moves the robot but i dont understand how to setup the work object or robot target to g… --- ## [Looking for a way to simplify the main module for my robot](https://tech-community.robotics.abb.com/t/looking-for-a-way-to-simplify-the-main-module-for-my-robot/11806)
**Author:** [@HaydenW29](https://tech-community.robotics.abb.com/u/HaydenW29)\ **Replies:** 4\ **Last updated:** [February 27, 2025, 4:53pm UTC](https://tech-community.robotics.abb.com/t/looking-for-a-way-to-simplify-the-main-module-for-my-robot/11806 "2025-02-27T16:53:39Z")
Hello, I’m looking for a way to simplify my main module as right now it is very lengthy. For reference, I have over 100 different part programs, and for each new part, I’m having to add a new section to the main module … --- ## [Skipping move positions before heading "Home"](https://tech-community.robotics.abb.com/t/skipping-move-positions-before-heading-home/11798)
**Author:** [@Engr535](https://tech-community.robotics.abb.com/u/Engr535)\ **Replies:** 11\ **Last updated:** [February 25, 2025, 8:11am UTC](https://tech-community.robotics.abb.com/t/skipping-move-positions-before-heading-home/11798 "2025-02-25T08:11:59Z")
Greetings Everyone, New to Rapid programing. I recently encountered this issue on my program. After the cycles have been completed (lines 486-488) I was expecting the tool will extract the way it comes in, per line posi… --- ## [Need expert on ConfJ \\Off](https://tech-community.robotics.abb.com/t/need-expert-on-confj-off/11799)
**Author:** [@Ilian\_Bonev](https://tech-community.robotics.abb.com/u/Ilian_Bonev)\ **Replies:** 10\ **Last updated:** [February 21, 2025, 2:29pm UTC](https://tech-community.robotics.abb.com/t/need-expert-on-confj-off/11799 "2025-02-21T14:29:10Z")
Hi, I am a university professor teaching industrial robots with ABB robots. Of course, I know how to solve the inverse kinematics of a 6-axis robot like the IRB 1010, for example. I even know how to calculate myself the… --- ## [Arc supervision signal - Lincoln welder](https://tech-community.robotics.abb.com/t/arc-supervision-signal-lincoln-welder/11794)
**Author:** [@Daper](https://tech-community.robotics.abb.com/u/Daper)\ **Replies:** 2\ **Last updated:** [February 20, 2025, 2:33pm UTC](https://tech-community.robotics.abb.com/t/arc-supervision-signal-lincoln-welder/11794 "2025-02-20T14:33:24Z")
Hi all, Does anyone know which signal I could use to monitor at any time if the arc is well established ? I have an IRC5 --- ## [Programming robot to perform tool check using tool load data](https://tech-community.robotics.abb.com/t/programming-robot-to-perform-tool-check-using-tool-load-data/11775)
**Author:** [@awilde](https://tech-community.robotics.abb.com/u/awilde)\ **Replies:** 1\ **Last updated:** [February 17, 2025, 11:49am UTC](https://tech-community.robotics.abb.com/t/programming-robot-to-perform-tool-check-using-tool-load-data/11775 "2025-02-17T11:49:00Z")
Our robot sometimes does not manage to close it’s collet while picking up a tool due to buildup from the manufacturing process. The issue when this happens is that it doesn’t clear the tool shaft and rips the tool rack o… --- ## [UIShow in RobotWare 7?](https://tech-community.robotics.abb.com/t/uishow-in-robotware-7/11793)
**Author:** [@lehmann77](https://tech-community.robotics.abb.com/u/lehmann77)\ **Replies:** 1\ **Last updated:** [February 14, 2025, 11:17am UTC](https://tech-community.robotics.abb.com/t/uishow-in-robotware-7/11793 "2025-02-14T11:17:53Z")
Hi, I need to open the program editor on the FlexPendant from my RAPID code. In RW5/6 I did so using the “UIShow”-command. In RW7, this command doesn’t seem to be doing anything, it is also no longer a part of the RAPID… --- ## [Distance measurement and extracting data](https://tech-community.robotics.abb.com/t/distance-measurement-and-extracting-data/11790)
**Author:** [@nihm20](https://tech-community.robotics.abb.com/u/nihm20)\ **Replies:** 2\ **Last updated:** [February 13, 2025, 12:24pm UTC](https://tech-community.robotics.abb.com/t/distance-measurement-and-extracting-data/11790 "2025-02-13T12:24:59Z")
Hi, I’m new to programming in rapid. I have a question about distance measurement. I have created targets for my robot, and then I want to record the position of the TCP after it has moved to each target. Here is a snip… --- ## [Update robtarget in a record](https://tech-community.robotics.abb.com/t/update-robtarget-in-a-record/11783)
**Author:** [@Burro](https://tech-community.robotics.abb.com/u/Burro)\ **Replies:** 11\ **Last updated:** [February 12, 2025, 4:14pm UTC](https://tech-community.robotics.abb.com/t/update-robtarget-in-a-record/11783 "2025-02-12T16:14:43Z")
Hello, Is it possible to update a position from the flexpendant that exist in a record? --- ## [Encryption software](https://tech-community.robotics.abb.com/t/encryption-software/11786)
**Author:** [@abbGuy](https://tech-community.robotics.abb.com/u/abbGuy)\ **Replies:** 2\ **Last updated:** [February 11, 2025, 6:57pm UTC](https://tech-community.robotics.abb.com/t/encryption-software/11786 "2025-02-11T18:57:05Z")
Hi All , does anybody have the Encryption software that works on W11 and IRC5. Cheers --- ## [Can you use tool load data to perform a toolcheck?](https://tech-community.robotics.abb.com/t/can-you-use-tool-load-data-to-perform-a-toolcheck/11774)
**Author:** [@awilde](https://tech-community.robotics.abb.com/u/awilde)\ **Replies:** 2\ **Last updated:** [February 4, 2025, 8:27pm UTC](https://tech-community.robotics.abb.com/t/can-you-use-tool-load-data-to-perform-a-toolcheck/11774 "2025-02-04T20:27:30Z")
Our robot sometimes does not manage to close it’s collet while picking up a tool due to buildup from the manufacturing process. The issue when this happens is that it doesn’t clear the tool shaft and rips the tool rack o… --- ## [Moving Wobj by Robtarget](https://tech-community.robotics.abb.com/t/moving-wobj-by-robtarget/10477)
**Author:** [@Dzmitry](https://tech-community.robotics.abb.com/u/Dzmitry)\ **Replies:** 7\ **Last updated:** [February 4, 2025, 9:36am UTC](https://tech-community.robotics.abb.com/t/moving-wobj-by-robtarget/10477 "2025-02-04T09:36:38Z")
Hi, I have a point P1made in wobj\_1 and point P2 made in wobj0. I need to create wobj\_2 that way that the coordinate P2 in wobj\_2 should be the same as P1 in wobj\_1. Are there some functions like “Adjust Robtargets” th… --- ## [multimove](https://tech-community.robotics.abb.com/t/multimove/11764)
**Author:** [@pugalenthi](https://tech-community.robotics.abb.com/u/pugalenthi)\ **Replies:** 2\ **Last updated:** [January 31, 2025, 10:13am UTC](https://tech-community.robotics.abb.com/t/multimove/11764 "2025-01-31T10:13:21Z")
I need an idea for a code to run two functions run at the same time in RAPID. Any ideas? MODULE Module1 CONST robtarget Target\_30:=\[\[1645.421406637,0,1697.500079305\],\[0.500000013,0.000000009,0.866025396,0.000000005\],\[0… --- ## [controlling irc5 with Python using EGM (robotstate 1.1)](https://tech-community.robotics.abb.com/t/controlling-irc5-with-python-using-egm-robotstate-1-1/11739)
**Author:** [@ofirdva](https://tech-community.robotics.abb.com/u/ofirdva)\ **Replies:** 1\ **Last updated:** [January 22, 2025, 7:27am UTC](https://tech-community.robotics.abb.com/t/controlling-irc5-with-python-using-egm-robotstate-1-1/11739 "2025-01-22T07:27:07Z")
Hello everyone, as written in the topic, I’m trying to send EGM\_START\_POSE a value to move my end effector to a spacific position and orientation. I downloaded the state machine add in which providing TRobEGM module: P… --- ## [Real Values in Rapid](https://tech-community.robotics.abb.com/t/real-values-in-rapid/8373)
**Author:** [@lordsikander](https://tech-community.robotics.abb.com/u/lordsikander)\ **Replies:** 5\ **Last updated:** [January 13, 2025, 4:08pm UTC](https://tech-community.robotics.abb.com/t/real-values-in-rapid/8373 "2025-01-13T16:08:53Z")
Hope the best of all! is it possible to set real values as a global variable in IRC5 Rapid language like (speed/position) of an AC Servo and control the servo from IRC5 pendant. I mean digital signals can be defined an… --- ## [Custom system parameter](https://tech-community.robotics.abb.com/t/custom-system-parameter/10553)
**Author:** [@Markus\_Naslund](https://tech-community.robotics.abb.com/u/Markus_Naslund)\ **Replies:** 6\ **Last updated:** [January 10, 2025, 10:00am UTC](https://tech-community.robotics.abb.com/t/custom-system-parameter/10553 "2025-01-10T10:00:27Z")
I am creating a RW Add-in and I wonder if it is possible to have custom system parameters for some of the setting for my Add-in. Today all settings are stored in persistent variables, and while that works fine, I just t… --- ## [How to move by instruction to a joystick-edited position while executing a program in manual mode?](https://tech-community.robotics.abb.com/t/how-to-move-by-instruction-to-a-joystick-edited-position-while-executing-a-program-in-manual-mode/11747)
**Author:** [@crhak](https://tech-community.robotics.abb.com/u/crhak)\ **Replies:** 2\ **Last updated:** [January 10, 2025, 7:59am UTC](https://tech-community.robotics.abb.com/t/how-to-move-by-instruction-to-a-joystick-edited-position-while-executing-a-program-in-manual-mode/11747 "2025-01-10T07:59:22Z")
Hi, !In manual mode ROB reaches a Target. 1: MoveL RelTool(Target,0,0,45),vX,fine,tGripX\\wobj:=wobjX; 2: Stop; !Here is ROB moved by joystick to a new position then pushed button “Play” on Pendant. 3: pCurrentPos:=C… --- ## [G-CODE TO RAPID](https://tech-community.robotics.abb.com/t/g-code-to-rapid/11741)
**Author:** [@ollitap](https://tech-community.robotics.abb.com/u/ollitap)\ **Replies:** 1\ **Last updated:** [December 30, 2024, 2:37am UTC](https://tech-community.robotics.abb.com/t/g-code-to-rapid/11741 "2024-12-30T02:37:07Z")
I want to use my 6600 to mill foam prototypes. I am thinking of buying the ABB software to convert my CAD/CAM data into Rapid. However, I would like to see a sample of what the g - code to rapid would look like. Does an… --- ## [How can I call "HR\_MoveTo" command without prefix via "Homeposrunning V7.11" mediapool.](https://tech-community.robotics.abb.com/t/how-can-i-call-hr-moveto-command-without-prefix-via-homeposrunning-v7-11-mediapool/11715)
**Author:** [@hamza\_07](https://tech-community.robotics.abb.com/u/hamza_07)\ **Replies:** 1\ **Last updated:** [December 20, 2024, 9:20am UTC](https://tech-community.robotics.abb.com/t/how-can-i-call-hr-moveto-command-without-prefix-via-homeposrunning-v7-11-mediapool/11715 "2024-12-20T09:20:00Z")
I will commission new ABB robot with Homeposrunning mediapool. I will make a program same path for another products many times, due to this reason I will use HR\_SetTypeDIndex command too but I want to use HR\_MoveTo comma… --- ## [How to abort move in trap?](https://tech-community.robotics.abb.com/t/how-to-abort-move-in-trap/11731)
**Author:** [@Jarramy](https://tech-community.robotics.abb.com/u/Jarramy)\ **Replies:** 2\ **Last updated:** [December 20, 2024, 3:43am UTC](https://tech-community.robotics.abb.com/t/how-to-abort-move-in-trap/11731 "2024-12-20T03:43:56Z")
Hi. I have the task of moving the robot to the service position. I am currently working on returning it to the previous point through a trap. And I can’t solve one point: after the signal is given, the robot returns back… --- ## [Detect the presence of a flexpendant](https://tech-community.robotics.abb.com/t/detect-the-presence-of-a-flexpendant/11735)
**Author:** [@spg666](https://tech-community.robotics.abb.com/u/spg666)\ **Replies:** 2\ **Last updated:** [December 12, 2024, 4:36pm UTC](https://tech-community.robotics.abb.com/t/detect-the-presence-of-a-flexpendant/11735 "2024-12-12T16:36:44Z")
is there a way to see if a flexpendant is connected to the controller within a rapid program? When using instruction like TPReadFK an error is generated if it is not connected, I’d like to detect the TP and only if it i… --- ## [IRB 1600 locked up after manual jog install/upgrade](https://tech-community.robotics.abb.com/t/irb-1600-locked-up-after-manual-jog-install-upgrade/11732)
**Author:** [@ThoffmanWako](https://tech-community.robotics.abb.com/u/ThoffmanWako)\ **Replies:** 3\ **Last updated:** [December 10, 2024, 6:00pm UTC](https://tech-community.robotics.abb.com/t/irb-1600-locked-up-after-manual-jog-install-upgrade/11732 "2024-12-10T18:00:54Z")
Good morning I have a bot that I just recently had a manual jog upgrade done to it. I was informed that I could still run the old programs until I could develop and build a multi sided fixture/jig for a part our bot weld… --- ## [IF function with signalDI](https://tech-community.robotics.abb.com/t/if-function-with-signaldi/10226)
**Author:** [@iuliaam](https://tech-community.robotics.abb.com/u/iuliaam)\ **Replies:** 3\ **Last updated:** [December 10, 2024, 11:52am UTC](https://tech-community.robotics.abb.com/t/if-function-with-signaldi/10226 "2024-12-10T11:52:24Z")
Hi, I am currently working on the communication between an Allen-Bradley PLC and an ABB teach pendant. I am activating the digital input (Ri\_09) of the abb from the plc using device net communication. The Ri\_09 becomes … --- ## [Interrupt works fine in RS simulation, but not on real robot](https://tech-community.robotics.abb.com/t/interrupt-works-fine-in-rs-simulation-but-not-on-real-robot/11724)
**Author:** [@Luxrobotic](https://tech-community.robotics.abb.com/u/Luxrobotic)\ **Replies:** 5\ **Last updated:** [December 5, 2024, 2:36pm UTC](https://tech-community.robotics.abb.com/t/interrupt-works-fine-in-rs-simulation-but-not-on-real-robot/11724 "2024-12-05T14:36:47Z")
Good morning everybody, I have an issue with an Interrupt which works fine in RS simulation, but not online. I have an interrupt iNailCharge connected with a TRAP routine IntRtneNailLevelLow When the signal diMagas… --- ## [Moving in the opposite direction, stopping midway and returning to the starting point](https://tech-community.robotics.abb.com/t/moving-in-the-opposite-direction-stopping-midway-and-returning-to-the-starting-point/11728)
**Author:** [@Jarramy](https://tech-community.robotics.abb.com/u/Jarramy)\ **Replies:** 2\ **Last updated:** [December 5, 2024, 6:55am UTC](https://tech-community.robotics.abb.com/t/moving-in-the-opposite-direction-stopping-midway-and-returning-to-the-starting-point/11728 "2024-12-05T06:55:38Z")
Hello, I’m new to RobotStudio. I am sitting on a task that involves the reverse movement of the robot, i.e. it follows a given path, the operator presses the button and the robot returns back to the point from which it … --- ## [Is it possible to custome service routines?](https://tech-community.robotics.abb.com/t/is-it-possible-to-custome-service-routines/11723)
**Author:** [@laov](https://tech-community.robotics.abb.com/u/laov)\ **Replies:** 2\ **Last updated:** [December 4, 2024, 3:11pm UTC](https://tech-community.robotics.abb.com/t/is-it-possible-to-custome-service-routines/11723 "2024-12-04T15:11:48Z")
Hello, Not sure if this is the right section but I could not find a FlexPendant topic so here goes: Is it possible to create a sub category of my own in flexpendant debug, call routine section? Or add my own routine in… [Previous page](https://tech-community.robotics.abb.com/c/rapid-programming/13.md?page=1) [Next page](https://tech-community.robotics.abb.com/c/rapid-programming/13.md?page=3)