# Argument error

**URL:** <https://tech-community.robotics.abb.com/t/argument-error/11837>\
**Category:** RobotStudio\
**Created:** [March 20, 2025, 8:59am UTC](https://tech-community.robotics.abb.com/t/argument-error/11837 "2025-03-20T08:59:29Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Kong1918](https://avatars.discourse-cdn.com/v4/letter/k/da6949/32.png) [@Kong1918](https://tech-community.robotics.abb.com/u/Kong1918)\
**Post date:** [March 20, 2025, 8:59am UTC](https://tech-community.robotics.abb.com/t/argument-error/11837/1 "2025-03-20T08:59:29Z")

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Hi, I have got a problem with one of the robots on site ( IRC5 M2004)

I originally got an axis revolution counter is not updated, so I carried out a recalibrate all the axis to the marks on each axis.  
The robot then started moving again but now some of the positions are out a bit.

The robot runs in auto but when in manual and I try and step through the program to get to the position I want to modify I get an argument error - orientation definition error in topoint.

How come this is an issue in manual but not in auto?

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**Author:** ![mandolas](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/mandolas/32/2496_2.png) [@mandolas](https://tech-community.robotics.abb.com/u/mandolas)\
**Post date:** [March 20, 2025, 10:23am UTC](https://tech-community.robotics.abb.com/t/argument-error/11837/2 "2025-03-20T10:23:07Z")

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Hi…  
Can you send me the code snippet so we can analyze it?  
Good Job

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [March 20, 2025, 11:59am UTC](https://tech-community.robotics.abb.com/t/argument-error/11837/3 "2025-03-20T11:59:07Z")

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You said recalibrate which sounds like you fine calibrated. Is that what you did or did you update rev counters (what you should have done.).

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<div class="post-metadata">

**Author:** ![Kong1918](https://avatars.discourse-cdn.com/v4/letter/k/da6949/32.png) [@Kong1918](https://tech-community.robotics.abb.com/u/Kong1918)\
**Post date:** [March 20, 2025, 12:02pm UTC](https://tech-community.robotics.abb.com/t/argument-error/11837/4 "2025-03-20T12:02:10Z")

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MoveJ pPickPre, vUser\_Mid, z10, toolGripper\WObj:=wobjDrum\_Conv;

MoveL pPick, vUser\_Lo, fine, toolGripper\WObj:=wobjDrum\_Conv; !Pick position - close gripper + add load of drums  
Gripper\_Close;  
GripLoad loadDrums\_x2;  
MoveL pPickPost1, vUser\_Lo , z10, toolGripper\WObj:=wobjDrum\_Conv; !Motion with load - confirm pick after suitable delay  
MoveL pPickPost2\_Taught, vUser\_Mid, z200, toolGripper\WObj:=wobjDrum\_Conv;  
MoveJ pPickPost3\_Taught, vUser\_Mid, z200, toolGripper\WObj:=wobjDrum\_Conv;  
IF bPick\_Is\_A = TRUE THEN  
!Set pick confirmation flag for A position  
SetDO\SDelay:=fPick\_RTN\_Delay, dp\_doPICK\_A\_RTN, 1;  
ELSE  
!Set pick confirmation flag for B position  
SetDO\SDelay:=fPick\_RTN\_Delay, dp\_doPICK\_B\_RTN, 1;  
ENDIF  
MoveL pPlacePre2, vUser\_Mid, z50, toolGripper\WObj:=wobjPllt\_Conv;  
MoveL pPlacePre3, vUser\_Mid, z10, toolGripper\WObj:=wobjPllt\_Conv;  
WaitDI dp\_diSpare\_1, 1;  
MoveL pPlace, vUser\_Lo, fine, toolGripper\WObj:=wobjPllt\_Conv;  
!Place position - open gripper + set load back to empty gripper  
Gripper\_Open;  
GripLoad load0;  
MoveL pPlacePost1, vUser\_Lo, z1, toolGripper\WObj:=wobjPllt\_Conv;  
MoveL pPlacePost2, vUser\_Lo, z10, toolGripper\WObj:=wobjPllt\_Conv;  
MoveL pPlacePost3, vUser\_Lo, z10, toolGripper\WObj:=wobjPllt\_Conv;  
ConfL\Off;  
MoveL pReturnHome1, vUser\_Hi, z200, toolGripper\WObj:=wobjPllt\_Conv;  
IF bPick\_Is\_A = TRUE THEN  
!Set place confirmation flag for A position  
SetDO\SDelay:=fPlace\_RTN\_Delay, dp\_doPLACE\_A\_RTN, 1;  
ELSE  
!Set pick confirmation flag for B position  
SetDO\SDelay:=fPlace\_RTN\_Delay, dp\_doPLACE\_B\_RTN, 1;  
ENDIF  
MoveL pReturnHome2, vUser\_Hi, z200, toolGripper\WObj:=wobjDrum\_Conv;  
MoveL pReturnHome3, vUser\_Hi, z50, toolGripper\WObj:=wobjDrum\_Conv;  
ConfL\On;  
MoveJ pHOME, vUser\_Hi, fine, toolGripper\WObj:=wobjDrum\_Conv;  
ENDPROC

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<div class="post-metadata">

**Author:** ![Kong1918](https://avatars.discourse-cdn.com/v4/letter/k/da6949/32.png) [@Kong1918](https://tech-community.robotics.abb.com/u/Kong1918)\
**Post date:** [March 20, 2025, 12:03pm UTC](https://tech-community.robotics.abb.com/t/argument-error/11837/5 "2025-03-20T12:03:22Z")

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when i try and move to the top line is when i get the error, but runs in auto.