Personal project · 2026

CrossArm

Paste an ABB RAPID program and CrossArm converts it into a FANUC program. The conversion runs entirely in your browser: nothing is sent to a server.

ABB RAPID program (.mod)Example

MODULE PickAndPlace
    !=============================================================
    ! Synthetic demo cell: pick parts from a conveyor, place them
    ! on a 3-slot fixture. Written from scratch for the test suite.
    !=============================================================

! ---- Tools and work objects ----
    PERS tooldata tGripper:=[TRUE,[[0,0,185.5],[1,0,0,0]],[2.4,[0,0,90],[1,0,0,0],0,0,0]];
    TASK PERS wobjdata wobjFixture:=[FALSE,TRUE,"",[[1250,-400,720],[0.707107,0,0,0.707107]],[[0,0,0],[1,0,0,0]]];

! ---- Positions ----
    CONST robtarget pHome:=[[600,0,900],[0,0,1,0],[0,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget pPick:=[[812.35,-245.1,305],[0.004363,-0.707094,0.707094,-0.004363],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];  ! conveyor end
    CONST robtarget pArcMid:=[[900,0,500],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST robtarget pArcEnd:=[[950,100,450],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
    CONST jointtarget jParking:=[[0,-30,30,0,90,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR robtarget pPlace;

! ---- Counters ----
    VAR num nSlot:=0;
    PERS num nCycles:=0;
    CONST num NB_SLOTS:=3;
    VAR num nOffsets{3}:=[0,120,240];
    LOCAL VAR bool bPartPresent:=FALSE;

RECORD partdata
        num id;
        string label;
    ENDRECORD

PROC main()
        MoveAbsJ jParking\NoEOffs,v1000,fine,tool0;
        MoveJ pHome,v1000,z50,tGripper;
        WHILE TRUE DO
            IF DI_PartReady=1 Pick;
            FOR i FROM 1 TO NB_SLOTS DO
                nSlot:=i;
                Place;
            ENDFOR
            nCycles:=nCycles+1;
        ENDWHILE
    ENDPROC

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

PROC Place()
        pPlace:=Offs(pHome,nOffsets{nSlot},0,-400);
        pPlace.trans.z:=pPlace.trans.z+2.5;
        IF nSlot=1 THEN
            MoveJ pPlace,v800,z20,tGripper\WObj:=wobjFixture;
        ELSEIF nSlot=2 THEN
            MoveC pArcMid,pArcEnd,v300,z10,tGripper\WObj:=wobjFixture;
        ELSE
            MoveL pPlace,v300,fine,tGripper\WObj:=wobjFixture;
        ENDIF
        Reset DO_GripperClose;
        WaitTime\InPos,0.2;
        GOTO skip_log;
        TPWrite "Placed in slot "\Num:=nSlot;
        skip_log:
    ERROR
        IF ERRNO=ERR_WAIT_MAXTIME RETRY;
        RAISE;
    ENDPROC

FUNC bool IsFixtureFull()
        RETURN nSlot>=NB_SLOTS AND NOT bPartPresent;
    ENDFUNC
ENDMODULE

The result will show up here.

The generated programs are an evaluation copy (CrossArm is licensed under BUSL-1.1): each one starts with a comment saying so.
Here a single module is converted. The full app takes a whole RobotWare backup plus the target FANUC robot backup, and fits all the numbering.

Source code on GitHub ↗Download CrossArm.exe ↗

The app

The Windows app: pick the ABB backup, optionally the target FANUC robot backup, and convert.

The conversion report: what was converted, area by area, and everything left to review.

Brand new, and moving fast

CrossArm came out at the end of September 2026 and I keep improving it. Each version converts more RAPID instructions, and each one is first measured on the ABB and FANUC controllers before CrossArm writes it.

Releases

v1.2.0September 29, 2026latest
Interrupts and their TRAP routines as FANUC condition monitors, records, tools and work objects passed to routines, and the points palletizing programs compute as they run.
v1.1.0September 29, 2026
More RAPID converted: TEST, pulses, clocks, analog outputs, payloads, and arrays indexed at run time.
v1.0.0September 28, 2026
First public release. Every difference between the two brands measured on an ABB IRB 6700 in RobotStudio and three FANUC robots in ROBOGUIDE.

Share of RAPID converted on 3 test RobotWare backups

v1.078 to 81 %

v1.181 to 88 %

v1.284 to 93 %

70 %85 %100 %

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