# Running Rapid code on the system while COMPAS is installed

**URL:** <https://forum.compas-framework.org/t/running-rapid-code-on-the-system-while-compas-is-installed/1116>\
**Category:** compas\_rrc\
**Created:** [October 7, 2026, 9:03pm UTC](https://forum.compas-framework.org/t/running-rapid-code-on-the-system-while-compas-is-installed/1116 "2026-10-07T21:03:01Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![MahsaRbi](https://avatars.discourse-cdn.com/v4/letter/m/ea666f/32.png) [@MahsaRbi](https://forum.compas-framework.org/u/MahsaRbi)\
**Post date:** [October 7, 2026, 9:03pm UTC](https://forum.compas-framework.org/t/running-rapid-code-on-the-system-while-compas-is-installed/1116/1 "2026-10-07T21:03:01Z")

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Hi everyone,

While COMPAS RRC is installed on the system, can we run rapid codes on the robot? Would it affect/disable the COMPAS RRC?

Thank you!

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**Author:** ![fleischp](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/fleischp/32/312_2.png) [@fleischp](https://forum.compas-framework.org/u/fleischp)\
**Post date:** [October 9, 2026, 6:44pm UTC](https://forum.compas-framework.org/t/running-rapid-code-on-the-system-while-compas-is-installed/1116/2 "2026-10-09T18:44:07Z")

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Hi Mahsa

Yes, this is generally possible. The COMPAS\_RRC backend driver (Rapid Robot Communication, or `_RRC` for short) is based on ABB RAPID. As long as you follow the general ABB RAPID programming rules, you can also run your own RAPID programs and procedures on the robot.

There are a few things to keep in mind:

- **Program execution:** In the `main` procedure of `T_ROB1`, you decide which procedure to call – either `r_RRC_Main` to run COMPAS\_RRC or your own RAPID program.

- **Parallel tasks:** The tasks `T_CTRL`, `T_RX`, and `T_TX` can run in parallel. As long as `r_RRC_Main` is not executed, the regular command processing through COMPAS\_RRC is not started.

- **Integrating custom RAPID procedures:** You can call your own RAPID procedures through a COMPAS\_RRC Custom Instruction. If you want to fully integrate a custom routine into COMPAS\_RRC, including feedback to Python, you can incorporate the existing feedback and message-handling logic from the regular `_RRC` instructions into your routine. This allows you to implement a so-called Custom Instruction.

For an example of how to implement a Custom Instruction, see the [Python example](https://github.com/compas-rrc/compas_rrc_start/blob/next-version/Python/instruction-examples/utility/custom_instruction.py).

The corresponding RAPID implementation can be found in `T_ROB1`, in the module `RRC_Base_Instructions_Rob`, under the procedure `r_RRC_CustomInstruction`.

In short, you can run your own RAPID programs without fundamentally interfering with COMPAS\_RRC. The key is which procedure you call in `main`.

Best  
Philippe