# RobotStudio S4 **URL:** https://tech-community.robotics.abb.com/c/robotstudio/robotstudio-s4/27.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 RobotStudio S4 category](https://tech-community.robotics.abb.com/t/about-the-robotstudio-s4-category/14785)
**Author:** [@system](https://tech-community.robotics.abb.com/u/system)\ **Replies:** 0\ **Last updated:** [February 16, 2026, 4:10pm UTC](https://tech-community.robotics.abb.com/t/about-the-robotstudio-s4-category/14785 "2026-02-16T16:10:05Z")
--- ## [build floppy disks for a S4C controller](https://tech-community.robotics.abb.com/t/build-floppy-disks-for-a-s4c-controller/3308)
**Author:** [@dealsaaa](https://tech-community.robotics.abb.com/u/dealsaaa)\ **Replies:** 10\ **Last updated:** [December 4, 2025, 1:07pm UTC](https://tech-community.robotics.abb.com/t/build-floppy-disks-for-a-s4c-controller/3308 "2025-12-04T13:07:06Z")
Hello, I have a key disk for a IRB 6400 S4C 3.0controller M97. Program No 3HAB2390-1/47. How can I create/generate the rest of disks? I tried with Robotware 4.0 but it does not recognize the key disk. Thank you, deal… --- ## [S4 controller](https://tech-community.robotics.abb.com/t/s4-controller/12014)
**Author:** [@Merce](https://tech-community.robotics.abb.com/u/Merce)\ **Replies:** 1\ **Last updated:** [August 27, 2025, 11:30am UTC](https://tech-community.robotics.abb.com/t/s4-controller/12014 "2025-08-27T11:30:39Z")
I’m on a s4 controller (hate) I’m looking into routing let say a phone like shape, so straight sides with round corners. I’d like to program it from an offset from the center point so if my frame ever moved a mm or 2 I … --- ## [Smart gripper doesn't show up among devices](https://tech-community.robotics.abb.com/t/smart-gripper-doesnt-show-up-among-devices/11875)
**Author:** [@L2CH](https://tech-community.robotics.abb.com/u/L2CH)\ **Replies:** 0\ **Last updated:** [April 9, 2025, 6:23am UTC](https://tech-community.robotics.abb.com/t/smart-gripper-doesnt-show-up-among-devices/11875 "2025-04-09T06:23:15Z")
Hello, I’ve recently started using RobotStudio and I am trying to simulate how the robot can use tools, so I have imported a Smart Gripper from the Import library button and mounted it on my robot. However, I am unable … --- ## [What Does my piece connect to my top part of the smart gripper when im using the vacuum](https://tech-community.robotics.abb.com/t/what-does-my-piece-connect-to-my-top-part-of-the-smart-gripper-when-im-using-the-vacuum/11516)
**Author:** [@JaeLai](https://tech-community.robotics.abb.com/u/JaeLai)\ **Replies:** 2\ **Last updated:** [April 1, 2025, 9:55pm UTC](https://tech-community.robotics.abb.com/t/what-does-my-piece-connect-to-my-top-part-of-the-smart-gripper-when-im-using-the-vacuum/11516 "2025-04-01T21:55:22Z")
The Problem I have. --- ## [Regarding license key](https://tech-community.robotics.abb.com/t/regarding-license-key/11622)
**Author:** [@AbhishekRGoudar](https://tech-community.robotics.abb.com/u/AbhishekRGoudar)\ **Replies:** 1\ **Last updated:** [September 20, 2024, 1:56pm UTC](https://tech-community.robotics.abb.com/t/regarding-license-key/11622 "2024-09-20T13:56:32Z")
How to get license key of ABB robotstudio --- ## [Change virtual S4 TeachPendant size](https://tech-community.robotics.abb.com/t/change-virtual-s4-teachpendant-size/11423)
**Author:** [@sturner](https://tech-community.robotics.abb.com/u/sturner)\ **Replies:** 0\ **Last updated:** [May 1, 2024, 8:32am UTC](https://tech-community.robotics.abb.com/t/change-virtual-s4-teachpendant-size/11423 "2024-05-01T08:32:23Z")
I seem to remember that you can change the virtual teachpendant from small to medium or large in both quick teach and robotstudio 4… please remind me how to do this… its been a while since I last used this --- ## [extracting ConfData from robot target.](https://tech-community.robotics.abb.com/t/extracting-confdata-from-robot-target/10943)
**Author:** [@Luke1995](https://tech-community.robotics.abb.com/u/Luke1995)\ **Replies:** 2\ **Last updated:** [November 30, 2022, 8:28am UTC](https://tech-community.robotics.abb.com/t/extracting-confdata-from-robot-target/10943 "2022-11-30T08:28:13Z")
Hi, I was wondering of a function that can extract and store the config data of a robot target? I was going to write my own function using “CalcjointT” but wondered if there was an easier way :)? If anyone knows of so… --- ## [Loading error S4C+ controllers](https://tech-community.robotics.abb.com/t/loading-error-s4c-controllers/7457)
**Author:** [@Yandisa](https://tech-community.robotics.abb.com/u/Yandisa)\ **Replies:** 2\ **Last updated:** [November 29, 2021, 3:02pm UTC](https://tech-community.robotics.abb.com/t/loading-error-s4c-controllers/7457 "2021-11-29T15:02:45Z")
I’ve written new programs for a robot station that works with 3 IRB 2400 robots on Robotstudio. However, the modules that I’ve created on Robotstudio cannot load onto the real station. It’s strange because on Robotstudio… --- ## [IRB6400 M94 and robotstudio..](https://tech-community.robotics.abb.com/t/irb6400-m94-and-robotstudio/939)
**Author:** [@IRB6400](https://tech-community.robotics.abb.com/u/IRB6400)\ **Replies:** 3\ **Last updated:** [July 12, 2021, 10:04am UTC](https://tech-community.robotics.abb.com/t/irb6400-m94-and-robotstudio/939 "2021-07-12T10:04:37Z")
Is it possible to simulate an IRB6400 M94 in robotstudio and save to disk and read it by the robot? Or is only S4+ suppored by robotstudio? It is possible to IRB6400 M94 send/receive programs by cable between computer … --- ## [Program Protection](https://tech-community.robotics.abb.com/t/program-protection/9697)
**Author:** [@Ninad\_Joshi](https://tech-community.robotics.abb.com/u/Ninad_Joshi)\ **Replies:** 2\ **Last updated:** [October 9, 2020, 6:40am UTC](https://tech-community.robotics.abb.com/t/program-protection/9697 "2020-10-09T06:40:26Z")
Hello all, I am working on ABB S4C controller. I want to protect my program from editing or deleting. What setting I need to do in flexpendant ? Thank you. --- ## [How to enable Layout tab?](https://tech-community.robotics.abb.com/t/how-to-enable-layout-tab/9733)
**Author:** [@tzotzis456](https://tech-community.robotics.abb.com/u/tzotzis456)\ **Replies:** 1\ **Last updated:** [October 5, 2020, 3:25pm UTC](https://tech-community.robotics.abb.com/t/how-to-enable-layout-tab/9733 "2020-10-05T15:25:02Z")
Hello, I would like to ask how to enable the Layout tab after closing the corresponding window. Thank you. --- ## [RIS](https://tech-community.robotics.abb.com/t/ris/9727)
**Author:** [@ChristopherHal](https://tech-community.robotics.abb.com/u/ChristopherHal)\ **Replies:** 0\ **Last updated:** [September 30, 2020, 12:44pm UTC](https://tech-community.robotics.abb.com/t/ris/9727 "2020-09-30T12:44:52Z")
Hi I have a small problem with the autostart on a flexpicker. I set the flexpicker program as 1. The the following RIS values should be e.g: It starts and stops as intended, but if I open the door and reset, it won’… --- ## [Output goes off after power cut off](https://tech-community.robotics.abb.com/t/output-goes-off-after-power-cut-off/9691)
**Author:** [@Ninad\_Joshi](https://tech-community.robotics.abb.com/u/Ninad_Joshi)\ **Replies:** 3\ **Last updated:** [September 13, 2020, 5:14am UTC](https://tech-community.robotics.abb.com/t/output-goes-off-after-power-cut-off/9691 "2020-09-13T05:14:17Z")
Hello all, I am working on ABB robot with S4C+ controller. I have used SetDO instruction. When this instruction is run, the DO goes ON. But when I restart my controller or power cuts then after restarting, the DO goes of… --- ## [RobotStudio can't find LAN controller](https://tech-community.robotics.abb.com/t/robotstudio-cant-find-lan-controller/9645)
**Author:** [@HChavez](https://tech-community.robotics.abb.com/u/HChavez)\ **Replies:** 1\ **Last updated:** [August 13, 2020, 9:35am UTC](https://tech-community.robotics.abb.com/t/robotstudio-cant-find-lan-controller/9645 "2020-08-13T09:35:38Z")
Hi everyone, I have big problems trying to connect robotstudio with the controller, I tried to connect via the LAN with a switch but robotstudio doesn’t find it and then I tried to connect directly by connection the eth… --- ## [DH parameters joint1 offset](https://tech-community.robotics.abb.com/t/dh-parameters-joint1-offset/9648)
**Author:** [@ted\_morell](https://tech-community.robotics.abb.com/u/ted_morell)\ **Replies:** 0\ **Last updated:** [August 12, 2020, 9:15pm UTC](https://tech-community.robotics.abb.com/t/dh-parameters-joint1-offset/9648 "2020-08-12T21:15:47Z")
Hi, The DH parameters can be found thanks to the method GetDenavitHartenbergParameters of Mechanism Class. However, the kinematic base frame is different from the base frame of the robot. Do you know if I can find the… --- ## [Importing Large CAD data into RS4.0](https://tech-community.robotics.abb.com/t/importing-large-cad-data-into-rs4-0/1511)
**Author:** [@DIFACTO](https://tech-community.robotics.abb.com/u/DIFACTO)\ **Replies:** 4\ **Last updated:** [August 5, 2020, 8:11am UTC](https://tech-community.robotics.abb.com/t/importing-large-cad-data-into-rs4-0/1511 "2020-08-05T08:11:08Z")
We are having trouble importing a car body in IGES format into RS4.0. Car body is in IGES format (total file size = 255 MB) We tried to import directly IGES file into RS 4.0 It took almost 3 hours to import into RS4.0 … --- ## [Software key for ROBOWARE2.1](https://tech-community.robotics.abb.com/t/software-key-for-roboware2-1/9639)
**Author:** [@amrutlohar](https://tech-community.robotics.abb.com/u/amrutlohar)\ **Replies:** 0\ **Last updated:** [August 5, 2020, 7:02am UTC](https://tech-community.robotics.abb.com/t/software-key-for-roboware2-1/9639 "2020-08-05T07:02:50Z")
I have the S4 controller and need software key(IRB key) for the IRB2400 M94A, Pls post or mail me this software key on below address amrutlohar@gmail.com --- ## [Irb6400 baseware 2.1 booting problem](https://tech-community.robotics.abb.com/t/irb6400-baseware-2-1-booting-problem/7963)
**Author:** [@Zulquarnain](https://tech-community.robotics.abb.com/u/Zulquarnain)\ **Replies:** 2\ **Last updated:** [July 24, 2020, 6:40pm UTC](https://tech-community.robotics.abb.com/t/irb6400-baseware-2-1-booting-problem/7963 "2020-07-24T18:40:59Z")
Hi guys, I m trying to load baseware 2.1 in robot irb6400. When I insert disk 1 it just stuck there on a very first file which can be seen on teachpendant. I have changed its main processor board and other cards as well… --- ## [Pneumatic servo mechanism](https://tech-community.robotics.abb.com/t/pneumatic-servo-mechanism/7885)
**Author:** [@StevenAlbert](https://tech-community.robotics.abb.com/u/StevenAlbert)\ **Replies:** 1\ **Last updated:** [July 13, 2020, 7:35pm UTC](https://tech-community.robotics.abb.com/t/pneumatic-servo-mechanism/7885 "2020-07-13T19:35:52Z")
Can anyone tell me how I would go about defining a pneumatic servo mechanism in robtstudio 6.05? I’m new to the software and have not found any info on it. Thanks! --- ## [RobotStudio 5.xx with S4](https://tech-community.robotics.abb.com/t/robotstudio-5-xx-with-s4/6060)
**Author:** [@makulais](https://tech-community.robotics.abb.com/u/makulais)\ **Replies:** 3\ **Last updated:** [June 29, 2020, 12:00pm UTC](https://tech-community.robotics.abb.com/t/robotstudio-5-xx-with-s4/6060 "2020-06-29T12:00:41Z")
I have found where robotstudio 5.xx can import S4 files, but I haven’t found where it can export to the S4 .prg file format. It retains the modules in individual module files rather than putting them all back into one la… --- ## [ConfigEdit 4.0](https://tech-community.robotics.abb.com/t/configedit-4-0/3353)
**Author:** [@dallas72](https://tech-community.robotics.abb.com/u/dallas72)\ **Replies:** 2\ **Last updated:** [January 13, 2020, 1:26pm UTC](https://tech-community.robotics.abb.com/t/configedit-4-0/3353 "2020-01-13T13:26:36Z")
I have a big problem: when i create a new I/O config, the program write an error: “Reporting method getMMCOutlineAttributes Status -2 Report the error to nearest ABB Office” Please help anybody! --- ## [Robinstall RW upgrade](https://tech-community.robotics.abb.com/t/robinstall-rw-upgrade/9212)
**Author:** [@pacijent](https://tech-community.robotics.abb.com/u/pacijent)\ **Replies:** 2\ **Last updated:** [December 13, 2019, 3:18pm UTC](https://tech-community.robotics.abb.com/t/robinstall-rw-upgrade/9212 "2019-12-13T15:18:49Z")
Hello to all, is it possible to upgrade robotware version for Sc4+ system using RobInstall. If not what are our options for such operation. Thanks a lot in advance. --- ## [Moved: Using WorldZones on S4Cplus controller](https://tech-community.robotics.abb.com/t/moved-using-worldzones-on-s4cplus-controller/9193)
**Author:** [@Johannes\_Weiman](https://tech-community.robotics.abb.com/u/Johannes_Weiman)\ **Replies:** 0\ **Last updated:** [November 8, 2019, 12:31pm UTC](https://tech-community.robotics.abb.com/t/moved-using-worldzones-on-s4cplus-controller/9193 "2019-11-08T12:31:45Z")
This discussion has been moved. --- ## [VBA Example: Targets to Excel](https://tech-community.robotics.abb.com/t/vba-example-targets-to-excel/71)
**Author:** [@Martin](https://tech-community.robotics.abb.com/u/Martin)\ **Replies:** 5\ **Last updated:** [December 5, 2018, 8:37am UTC](https://tech-community.robotics.abb.com/t/vba-example-targets-to-excel/71 "2018-12-05T08:37:33Z")
This macro writes the coordinates for all targets into an Excel sheet. It’s easy to modify it for other data. Open VBA (Alt+F11) and import the form. You also need to put a reference to the ABB RobotStudio MathUtility a… --- ## [Robotware compatibility error with IRC5](https://tech-community.robotics.abb.com/t/robotware-compatibility-error-with-irc5/7916)
**Author:** [@jstoquica](https://tech-community.robotics.abb.com/u/jstoquica)\ **Replies:** 3\ **Last updated:** [November 7, 2018, 7:42am UTC](https://tech-community.robotics.abb.com/t/robotware-compatibility-error-with-irc5/7916 "2018-11-07T07:42:45Z")
Hi, Recently I install Robotstudio 6 and robotware (same version) to control 2 industrial robots: IRB140, IRB360 and IRB2400. Those robot controllers have a old RobotWare version, hence I can’t work in offline mode unti… --- ## [Use of WZSphDef](https://tech-community.robotics.abb.com/t/use-of-wzsphdef/8377)
**Author:** [@jose\_djoukap](https://tech-community.robotics.abb.com/u/jose_djoukap)\ **Replies:** 2\ **Last updated:** [July 21, 2018, 2:34pm UTC](https://tech-community.robotics.abb.com/t/use-of-wzsphdef/8377 "2018-07-21T14:34:43Z")
Hi everyone, I wrote this Rapid code to control TCP position. I want the blue light(Lampe\_Bleu) to be on when the TCP reach into the sphere. This code does’nt work. VAR shapedata Sphere; CONST num Rayon\_sphere :=150; … --- ## [error 40084 task main reference to unknown data](https://tech-community.robotics.abb.com/t/error-40084-task-main-reference-to-unknown-data/8148)
**Author:** [@ecem](https://tech-community.robotics.abb.com/u/ecem)\ **Replies:** 3\ **Last updated:** [March 26, 2018, 1:10pm UTC](https://tech-community.robotics.abb.com/t/error-40084-task-main-reference-to-unknown-data/8148 "2018-03-26T13:10:22Z")
Hello there s4 1400-2338 I am using this robot I am giving this error Do you have any information error 40084 task main reference what can I do to do what is unknown --- ## [Matlab and robotstudio](https://tech-community.robotics.abb.com/t/matlab-and-robotstudio/8126)
**Author:** [@nourmha](https://tech-community.robotics.abb.com/u/nourmha)\ **Replies:** 0\ **Last updated:** [March 8, 2018, 10:50am UTC](https://tech-community.robotics.abb.com/t/matlab-and-robotstudio/8126 "2018-03-08T10:50:47Z")
how can we send commnads from matlab to robotstudio to move robotic arm --- ## [How can i visualize a point cloud of an attached item to my robot?](https://tech-community.robotics.abb.com/t/how-can-i-visualize-a-point-cloud-of-an-attached-item-to-my-robot/7981)
**Author:** [@Austint5](https://tech-community.robotics.abb.com/u/Austint5)\ **Replies:** 1\ **Last updated:** [January 5, 2018, 9:06am UTC](https://tech-community.robotics.abb.com/t/how-can-i-visualize-a-point-cloud-of-an-attached-item-to-my-robot/7981 "2018-01-05T09:06:34Z")
I am using the 6640-185 robot and i have an attached mount fixed to its last joint. Is there a way i can visualize the a point cloud that the attached mount moves through to find the total volume it can reach? Currently … [Next page](https://tech-community.robotics.abb.com/c/robotstudio/robotstudio-s4/27.md?page=1)