# Handling Precision Errors in RAPID **URL:** \ **Category:** RAPID Programming\ **Created:** [February 27, 2025, 8:51am UTC](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807 "2025-02-27T08:51:44Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![nolanmaris](https://avatars.discourse-cdn.com/v4/letter/n/ebca7d/32.png) [@nolanmaris](https://tech-community.robotics.abb.com/u/nolanmaris)\ **Post date:** [February 27, 2025, 8:51am UTC](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807/1 "2025-02-27T08:51:44Z")
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 to floating-point precision limits, TCP calibration errors / mechanical backlash? Even small deviations can cause major issues in applications like welding, pick-and-place/ assembly. Understanding the root cause is crucial for improving accuracy. 😑 There are several ways to tackle this. Checking and refining your work object calibration; optimizing zone da 🙂 ta settings, and adjusting speed/acceleration parameters can help minimize deviations. Have you tried different motion instructions like `MoveL` vs. `MoveJ` and noticed a difference? Could using fine-point positioning instead of approximate (`z0` vs. `z1`) help? 😑 Sometimes, adding error correction logic using feedback sensors or external vision systems can improve accuracy significantly. checked [https://new.abb.com/news/detail/96221/10-ways-that-abbs-robotstudior-software-can-help-you-optimize-your-robots-performance-](https://new.abb.com/news/detail/96221/10-ways-that-abbs-robotstudior-software-can-help-you-optimize-your-robots-performance)[MongoDB Training](https://www.igmguru.com/big-data/mongodb-training) guide related to this and found it quite informative. If you’ve encountered precision issues in RAPID, let’s discuss how to solve them! What adjustments have worked for you? Have you used `Offs()`, `RelTool()`, or other fine-tuning techniques? o:) Thank you !! 🙂 ---
**Author:** ![matti](https://avatars.discourse-cdn.com/v4/letter/m/e480ec/32.png) [@matti](https://tech-community.robotics.abb.com/u/matti)\ **Post date:** [February 28, 2025, 9:15am UTC](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807/2 "2025-02-28T09:15:10Z")
Hallo, my practical expierence is: - there are no accuracy issues when working with teached points on a single robot. If inaccurate, check TCP, calibration or workobject definitions - there are accuracy issues sometimes when the robot is moved by a cinematic (Track or Gantry). Check calibration and base-frames. It is worth to update the gear-ratio of the external drives, so measure the real distance the cinematic moves in comparison to the set value and recalculate the ratio. There are also dynamic inaccuracies, so robot stays not on path when accelerating or deaccelerating. Set FFW\_Mode to 1 or 2 in that case. - there are definitely inaccuracies for the internal axes when working with offline generated positions. Even with proper workobject and tool definitions, you will not get the same accuracy as for teached positions, especially when there are configuration changes (confdata). Absolute Accuracy is the way to go then. ---
**Author:** ![Braap](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/braap/32/2544_2.png) [@Braap](https://tech-community.robotics.abb.com/u/Braap)\ **Post date:** [March 25, 2025, 12:12pm UTC](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807/3 "2025-03-25T12:12:12Z")
Hey Nolan, I had this issue once. ABB provides several options to adjust issues like that, but be careful as they may cause some cycle time! You can use these options: ```auto MotionProcessModeSet LOW_SPEED_ACCURACY_MODE; MotionProcessModeSet ACCURACY_MODE; ``` These settings increase the accuracy. You might need an **Addin** for “Advanced Robot Motion” to use them. * * * If you’re working with big/heavy tools mounted on the robot, those tools may shake if the speed decreases too quickly. Make sure to add a **WaitTime\_HeadShaking** after you reach the position. * * * Working with **Z0/fine** points is always helpful for achieving high-precision positions. * * * Also, make sure your calculated tool values (weight, load point) are correct. Otherwise, you may introduce offsets. * * * You could also implement error handling by comparing the actual position with the desired position and restarting the movement to the exact position. Hopefully, one of these suggestions helps you resolve the issue! Greets! ---
**Author:** ![Sodge](https://avatars.discourse-cdn.com/v4/letter/s/22d042/32.png) [@Sodge](https://tech-community.robotics.abb.com/u/Sodge)\ **Post date:** [July 3, 2025, 2:25am UTC](https://tech-community.robotics.abb.com/t/handling-precision-errors-in-rapid/11807/4 "2025-07-03T02:25:11Z")
In regard to errors, do you guys know why my c1Position from the DSQC-377B would only be reading to 0.00M instead of 0.0001M as per the manual? This is a question I did pose just now, but maybe the wrong forum. Does anyone know if the c1Position variable come from the DSQC-377B over DeviceNet as a floating point number to 0.1mm, or does the robot in rapid convert this to a floating point 0.0001M? Mine is only reading to 0.00M with troublesome encoder tracking accuracy -Name “c1Position” -SignalType “AI” -Device “Qtrack1” -DeviceMap “0-31” -Category “Qtrack” -MaxLog 21474.8 -MaxPhys 1 -MaxPhysLimit 1 -MaxBitVal 2147483647 -MinLog -21474.8 -MinPhys -1 -MinPhysLimit -1 -MinBitVal -2147483647 Looks like an integer format to me, so how then does the position get converted to 0.1mm?