# \#programming **URL:** https://tech-community.robotics.abb.com/tag/programming/343.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) --- ## [Best Practice for Top Level of robot program](https://tech-community.robotics.abb.com/t/best-practice-for-top-level-of-robot-program/10390)
**Author:** [@Jaycephus](https://tech-community.robotics.abb.com/u/Jaycephus)\ **Replies:** 2\ **Last updated:** [April 13, 2026, 3:32pm UTC](https://tech-community.robotics.abb.com/t/best-practice-for-top-level-of-robot-program/10390 "2026-04-13T15:32:36Z")
In my past robot projects on other platforms, especially if working with PLC control, I create a main loop, and a command processor within that loop. A handshaking protocol is created for each application, but often look… --- ## [Can the orientation of a source be set variably?](https://tech-community.robotics.abb.com/t/can-the-orientation-of-a-source-be-set-variably/12073)
**Author:** [@Amber](https://tech-community.robotics.abb.com/u/Amber)\ **Replies:** 5\ **Last updated:** [November 19, 2025, 1:39pm UTC](https://tech-community.robotics.abb.com/t/can-the-orientation-of-a-source-be-set-variably/12073 "2025-11-19T13:39:22Z")
I am working on a palletising simulation ( with an IRB6640) in which the object sinks and then respawns just before it is placed on the pallet. To make the object respawn, I use a source block (smart component). Is it po… --- ## [Move to detected objects](https://tech-community.robotics.abb.com/t/move-to-detected-objects/11944)
**Author:** [@Pape\_17](https://tech-community.robotics.abb.com/u/Pape_17)\ **Replies:** 0\ **Last updated:** [June 9, 2025, 8:26am UTC](https://tech-community.robotics.abb.com/t/move-to-detected-objects/11944 "2025-06-09T08:26:09Z")
Greetings, me and my colleague areworking on a school project. The project is vision system, so the general idea is that connected camera detects certain object and sort it out. The robot we are working on is ABB IRB120… --- ## [% Commands on Module start](https://tech-community.robotics.abb.com/t/commands-on-module-start/11844)
**Author:** [@Braap](https://tech-community.robotics.abb.com/u/Braap)\ **Replies:** 4\ **Last updated:** [March 26, 2025, 12:58am UTC](https://tech-community.robotics.abb.com/t/commands-on-module-start/11844 "2025-03-26T00:58:39Z")
Hey guys, i hope somebody is able to help me or even awnser my questions… I was looking for a simple lock command to lock some modules for some of our costumers. I was researching a bit and i found out there are % com… --- ## [var Array](https://tech-community.robotics.abb.com/t/var-array/11802)
**Author:** [@Varinder](https://tech-community.robotics.abb.com/u/Varinder)\ **Replies:** 0\ **Last updated:** [February 21, 2025, 7:33am UTC](https://tech-community.robotics.abb.com/t/var-array/11802 "2025-02-21T07:33:06Z")
I’m new to robotstudio & want to use array to store value and return the output from the unused and reset if all values are used --- ## [TCP Position check](https://tech-community.robotics.abb.com/t/tcp-position-check/11649)
**Author:** [@grth46](https://tech-community.robotics.abb.com/u/grth46)\ **Replies:** 4\ **Last updated:** [October 16, 2024, 6:01am UTC](https://tech-community.robotics.abb.com/t/tcp-position-check/11649 "2024-10-16T06:01:59Z")
Hello again! With this I think I have a rather specific concern, so because of that I will clarify the context at first, which can be a lot of reading for all the lazy people out there :wink: I’m currently working on a… --- ## [Array using robtarget](https://tech-community.robotics.abb.com/t/array-using-robtarget/9318)
**Author:** [@jakobfranzzon](https://tech-community.robotics.abb.com/u/jakobfranzzon)\ **Replies:** 16\ **Last updated:** [August 2, 2024, 6:46pm UTC](https://tech-community.robotics.abb.com/t/array-using-robtarget/9318 "2024-08-02T18:46:03Z")
Hello! Been stuck with doing an array with 6 different robtargets. It is possible to do it this way: PERS num nPartCount := 0; PERS robtarget LeavePos{6} := \[\[\[620,1200,-86.402252976\],\[0.001544941,-0.70381839,-0.71036… --- ## [Data type: anytype](https://tech-community.robotics.abb.com/t/data-type-anytype/11280)
**Author:** [@mandolas](https://tech-community.robotics.abb.com/u/mandolas)\ **Replies:** 1\ **Last updated:** [November 15, 2023, 10:11pm UTC](https://tech-community.robotics.abb.com/t/data-type-anytype/11280 "2023-11-15T22:11:17Z")
Hi… There is a possibility that I can pass an ANYTYPE parameter in one of my routines. As RS does not handle method overloading, I would like to create a procedure where I can pass either a ‘num’ or a ‘string’ without … --- ## [Routine tooltips](https://tech-community.robotics.abb.com/t/routine-tooltips/11185)
**Author:** [@XNOR](https://tech-community.robotics.abb.com/u/XNOR)\ **Replies:** 3\ **Last updated:** [August 2, 2023, 11:17pm UTC](https://tech-community.robotics.abb.com/t/routine-tooltips/11185 "2023-08-02T23:17:02Z")
System routines and instructions show a green tooltip in RS explaining what the instruction does. Is there any way to code that into my own routines? --- ## [Guard Stop State in Robot Studio](https://tech-community.robotics.abb.com/t/guard-stop-state-in-robot-studio/10685)
**Author:** [@mccorsean96](https://tech-community.robotics.abb.com/u/mccorsean96)\ **Replies:** 3\ **Last updated:** [April 12, 2022, 5:57pm UTC](https://tech-community.robotics.abb.com/t/guard-stop-state-in-robot-studio/10685 "2022-04-12T17:57:12Z")
Hello, I have taken a backup of our controller and used this back up to recreate a virtual controller with the intent of making programs without shutting down production. The issue I am running into in Robot Studio is w… --- ## [Wizard easy Programming version 1.3 - Now also available on IRB 1300](https://tech-community.robotics.abb.com/t/wizard-easy-programming-version-1-3-now-also-available-on-irb-1300/10521)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 1\ **Last updated:** [March 28, 2022, 2:31pm UTC](https://tech-community.robotics.abb.com/t/wizard-easy-programming-version-1-3-now-also-available-on-irb-1300/10521 "2022-03-28T14:31:12Z")
The easy-to-use, graphical and intuitive programming software is now pre-installed on cobots including, GoFa, SWIFTI, single-arm YuMi, IRB 1100 as well as IRB 1300. With this expansion, Wizard will enable more robot user… --- ## [Create workobject from 3 vectors](https://tech-community.robotics.abb.com/t/create-workobject-from-3-vectors/10491)
**Author:** [@guillaumebatun](https://tech-community.robotics.abb.com/u/guillaumebatun)\ **Replies:** 3\ **Last updated:** [December 13, 2021, 2:55pm UTC](https://tech-community.robotics.abb.com/t/create-workobject-from-3-vectors/10491 "2021-12-13T14:55:34Z")
Hi, I combed the available functions and I was surprised not to see this. I have a sensor that is able to give me 3 3D points (poses) in the world. I wanted to programmatically create a workobject based on these 3 poi… --- ## [Info Box](https://tech-community.robotics.abb.com/t/info-box/10036)
**Author:** [@Robot\_Germany25](https://tech-community.robotics.abb.com/u/Robot_Germany25)\ **Replies:** 5\ **Last updated:** [March 5, 2021, 2:08pm UTC](https://tech-community.robotics.abb.com/t/info-box/10036 "2021-03-05T14:08:52Z")
Hello everyone, What command do I have to use (within Rapid) to display an info box on the Flexpendant, which has to be accepted with an “OK”? I want to start the programm routine and then on the bottom row there shoul… --- ## [IF Statement in Rapid](https://tech-community.robotics.abb.com/t/if-statement-in-rapid/9550)
**Author:** [@mark457b](https://tech-community.robotics.abb.com/u/mark457b)\ **Replies:** 4\ **Last updated:** [June 4, 2020, 6:00pm UTC](https://tech-community.robotics.abb.com/t/if-statement-in-rapid/9550 "2020-06-04T18:00:17Z")
Hello im thinking of inserting an if statement so if the criteria is fulfilled it jumps to a certain place in the Rapid Program. If i wanna do this in the program i have attached as a picture here. I know in other prog… --- ## [Door Function and adjacent sensor](https://tech-community.robotics.abb.com/t/door-function-and-adjacent-sensor/9535)
**Author:** [@mark457b](https://tech-community.robotics.abb.com/u/mark457b)\ **Replies:** 11\ **Last updated:** [June 3, 2020, 7:28am UTC](https://tech-community.robotics.abb.com/t/door-function-and-adjacent-sensor/9535 "2020-06-03T07:28:31Z")
Hello Forums I am making a door function on a “CNC” that turns a Shaft/Aksel, then a robot picks it up and places it on a pallet. I have made the door/CNC as a Mechanism so it can slide open or shut. I’ve placed a Pla… --- ## [Get started with Wizard Easy Programming](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming/9424)
**Author:** [@ABB\_YuMiGuide](https://tech-community.robotics.abb.com/u/ABB_YuMiGuide)\ **Replies:** 0\ **Last updated:** [April 9, 2020, 1:28pm UTC](https://tech-community.robotics.abb.com/t/get-started-with-wizard-easy-programming/9424 "2020-04-09T13:28:55Z")
Hello everyone, ABB has introduced Wizard Easy Programming, an easy graphical programming interface for your robot. Now you can easily program your robot tasks without having any prior coding or programming skills. For… --- ## [Operator screen to control 4 variables at a given coordinate on a grid.](https://tech-community.robotics.abb.com/t/operator-screen-to-control-4-variables-at-a-given-coordinate-on-a-grid/7887)
**Author:** [@nezzreth](https://tech-community.robotics.abb.com/u/nezzreth)\ **Replies:** 0\ **Last updated:** [September 5, 2017, 9:50pm UTC](https://tech-community.robotics.abb.com/t/operator-screen-to-control-4-variables-at-a-given-coordinate-on-a-grid/7887 "2017-09-05T21:50:23Z")
We want to be able to set a single point in the center of a grid. Using that center point, we use offsets from there to get the positions we want. The program data we want operators to be able to access for a given poi… --- ## [How to set PP to main at Start](https://tech-community.robotics.abb.com/t/how-to-set-pp-to-main-at-start/7020)
**Author:** [@medinadan](https://tech-community.robotics.abb.com/u/medinadan)\ **Replies:** 2\ **Last updated:** [March 1, 2016, 9:23am UTC](https://tech-community.robotics.abb.com/t/how-to-set-pp-to-main-at-start/7020 "2016-03-01T09:23:04Z")
Hello all, I have been searching for a while and I did not find a way to set the PP to main at Start from RAPID code or controller configuration. I need a way to start always from the begining when the Start button is … --- ## [Asyncron Programming and A1Pump1PSIn value](https://tech-community.robotics.abb.com/t/asyncron-programming-and-a1pump1psin-value/6894)
**Author:** [@Bahadir\_Boge](https://tech-community.robotics.abb.com/u/Bahadir_Boge)\ **Replies:** 2\ **Last updated:** [November 18, 2015, 4:04am UTC](https://tech-community.robotics.abb.com/t/asyncron-programming-and-a1pump1psin-value/6894 "2015-11-18T04:04:44Z")
I have a two part question: Is it possible to write an asyncron method in rapid? If not, is There any alternative way for this? Is it possible to read A1Pump1PSIn value with rapid? thanks an best regards