Personal project · 2026
New · v1.2.0CrossArm
Converts ABB robot programs into FANUC programs
When a production line switches from ABB to FANUC robots, every program has to be rewritten. By hand it takes days per robot, and that's where mistakes creep in. CrossArm reads the ABB backup and generates the FANUC programs: motions, frames, I/O, registers and logic. Anything it can't convert goes into a report instead of being guessed. It came out at the end of September 2026 and I keep improving it.
- Python 3.11
- Windows .exe
- GitHub Actions
ABB RAPID (input) · PICK.mod
PROC Pick()
! approach, grip, retract
MoveJ Offs(pPick,0,0,100),v1000,z20,tGripper;
MoveL pPick,v200,fine,tGripper;
Set DO_GripperClose;
WaitTime 0.3;
MoveL Offs(pPick,0,0,100),v500,z10,tGripper;
ENDPROC
→
FANUC TP (output) · PICK.LS9/9
1: !RAPID PickAndPlace.Pick ;
2: ! approach, grip, retract ;
3: UFRAME_NUM=0 ;
4: UTOOL_NUM=2 ;
5:J P[1] 22% CNT55 ;
6:L P[2] 200mm/sec FINE ;
7: DO[1]=ON ;
8: WAIT .30(sec) ;
9:L P[1] 500mm/sec CNT54 ;
