# Synchronizing RAPID to Station - losing targets

**URL:** <https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018>\
**Category:** RAPID Programming\
**Created:** [August 7, 2019, 10:10pm UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018 "2019-08-07T22:10:50Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![jcc](https://avatars.discourse-cdn.com/v4/letter/j/a4c791/32.png) [@jcc](https://tech-community.robotics.abb.com/u/jcc)\
**Post date:** [August 7, 2019, 10:10pm UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/1 "2019-08-07T22:10:50Z")

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Hi,

I have imported a RAPID file that I created with RoboDK and now am trying to synchronize it to my station. I examined the paths and targets in the RAPID path editor, and it looks the way I expect it to. The RAPID code is basically a sequence of linear moves, and each target is shown in the graphical representation with paths between them. However, when I synchronize to station, many of the targets disappear. I’ve included an image showing the two paths.

In the RobotStudio manual, I saw there is a MinDist approximation parameter, which was mentioned in the context of creating a path from edges or curves. The manual says that if points are closer than the specified minimum distance, some of the points are filtered out. Is there a similar parameter that applies to synchronizing from RAPID to the station? If so, how can I edit that? If not, do you know what else might be happening?

Thanks!  
J

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**Author:** ![EricH](https://avatars.discourse-cdn.com/v4/letter/e/ea5d25/32.png) [@EricH](https://tech-community.robotics.abb.com/u/EricH)\
**Post date:** [August 8, 2019, 8:04am UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/2 "2019-08-08T08:04:42Z")

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Can you post the Rapid code? Maybe you have “unclean” move instructions.

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**Author:** ![DenisFR](https://avatars.discourse-cdn.com/v4/letter/d/dc4da7/32.png) [@DenisFR](https://tech-community.robotics.abb.com/u/DenisFR)\
**Post date:** [August 8, 2019, 8:27am UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/3 "2019-08-08T08:27:45Z")

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Hello,  
What does warning “Failed to synchronize path MOD\_PSAX\_ROBOTCHECK” say?

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**Author:** ![jcc](https://avatars.discourse-cdn.com/v4/letter/j/a4c791/32.png) [@jcc](https://tech-community.robotics.abb.com/u/jcc)\
**Post date:** [August 8, 2019, 7:37pm UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/4 "2019-08-08T19:37:31Z")

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Rapid code is attached. The error message is:

Rapid  
Controller1: Failed to synchronize path MOD\_P5AX\_ROBOTCHECK/Main in T\_ROB1.

Data value AFD1100STC1515PARALLEL tooldata changedData value ObjectReference wobjdata changed  
[MOD\_P5AX\_ROBOTCHECK.txt](https://tech-community.robotics.abb.com/uploads/short-url/gmHPeGRGk9XWJgf1V6kSI89zTLA.txt) (30 KB)

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**Author:** ![EricH](https://avatars.discourse-cdn.com/v4/letter/e/ea5d25/32.png) [@EricH](https://tech-community.robotics.abb.com/u/EricH)\
**Post date:** [August 9, 2019, 7:22am UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/5 "2019-08-09T07:22:19Z")

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I see. All move instructions are “unclean”, the targets need to be in a variable. I don’t know RoboDK, maybe you have an option for saving targets in variables.

Example:

```auto
MODULE MOD_P5AX_ROBOTCHECK

    ! Targets in variables here

    PERS jointtarget Target_10:=[[-12.384942,51.756647,-2.272365,113.414946,9.512864,-122.531619],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS robtarget Target_20:=[[-457.200,-360.861,119.561],[0.27059805,-0.65328148,-0.65328148,-0.27059805],[-1,1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    .
    .
    .

    ! -------------------------------
    ! Define customized variables here
    ! ...

	! Tool variables: 
	PERS tooldata AFD1100STC1515PARALLEL := [TRUE,[[335.000,0.000,205.000],[0.70710678,0.00000000,0.70710678,0.00000001]],[1,[0,0,20],[1,0,0,0],0,0,0.005]];

	! Reference variables:
	PERS wobjdata ObjectReference := [FALSE, TRUE, "", [[1700.000,0.000,0.000],[0.70710678,0.00000000,0.00000000,0.70710678]],[[0,0,0],[1,0,0,0]]];

	PROC Main()
		ConfJ \On;
		ConfL \Off;
		! Program generated by RoboDK v3.8.4 for ABB IRB 6700-235/2.65 on 18/07/2019 12:34:19
		! Using nominal kinematics.
		! Show AFD1100 STC1515 PARALLEL
		! #3 60 DEG CENTERDRILL
		! SetRPM(90750);
		! Stock Size X63. Y27. Z4.
		MoveAbsJ Target_10,v1000,z1,AFD1100STC1515PARALLEL \WObj:=ObjectReference;
		MoveL Target_20,v1000,z1,AFD1100STC1515PARALLEL \WObj:=ObjectReference;
		WaitTime 0.231;
                .
                .
                .

```

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<div class="post-metadata">

**Author:** ![jcc](https://avatars.discourse-cdn.com/v4/letter/j/a4c791/32.png) [@jcc](https://tech-community.robotics.abb.com/u/jcc)\
**Post date:** [August 13, 2019, 2:08pm UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/6 "2019-08-13T14:08:06Z")

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Thank you! That fixed it.

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**Author:** ![Johannes\_Weiman](https://avatars.discourse-cdn.com/v4/letter/j/e47c2d/32.png) [@Johannes\_Weiman](https://tech-community.robotics.abb.com/u/Johannes_Weiman)\
**Post date:** [August 15, 2019, 12:46pm UTC](https://tech-community.robotics.abb.com/t/synchronizing-rapid-to-station-losing-targets/9018/7 "2019-08-15T12:46:57Z")

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Hi,  
Actually inline targets work just fine. It is the inline speed definitions that cause problems in this case.  
Replace them with variables and you’re good, see attached file.  
[MOD\_P5AX\_ROBOTCHECK\_inl.txt](https://tech-community.robotics.abb.com/uploads/short-url/eAbsqVlKSHAXVi0g3K3eSbsdCWD.txt) (29.7 KB)