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Taco | ABB robot programming for Grasshopper


Taco | ABB robot programming for Grasshopper

TACO is a free and user-friendly programming plugin for the simulation and control of ABB industrial robots directly within Grasshopper.

by Shih-Yuan Wang | Yu-Ting Sheng | Florian Frank

Members: 17
Latest Activity: Apr 19

ABB robot programming for Grasshopper.

Download: Taco 0.57

Tutorial: Video Tutorial + Example Files


  • McNeel Rhinoceros 5x64 SR12 or higher.
  • Grasshopper 0.9.0076 or higher.
  • Active Internet Connection (on Installation).
  • IRC5 Stream & Get Calibration Component: Install ABB Runtime Communication


TACO is a free and user-friendly programming plugin for the simulation and control of ABB industrial robots directly within Grasshopper. Taco offers users to program and visualize ABB robots with parametrics. The current and main features include:

  • Single and Multi-Robot(ABB Multi-Move) Tasks
  • I.K Solver + RAPID code generator
  • IRC5 read calibration + Stream Task Files
  • Custom tool definition
  • Custom speed settings
  • Custom rapid commands
  • Lots of options on toolpath TCPs
  • ABB_IRB2600_20165 robot definition
  • Robot simulation


Follow the steps on:

Author and Copyright:

Copyright (C) 2016 and
Support contact:


"The use of TACO is at your own risk as it is a free software. We accept no responsibility for damage or injury!Please check the RAPID code carefully before uploading."

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Comment by franco ferreiro on April 18, 2017 at 10:22am

Hi Bill, not yet but i'm interested in the same info you asked, and im also planning to do some tests myself asap...

I did some very promising and sucessful tests with kuka prc and want to do the same or better if possible with Taco.

Main driving issues in my case is to have actual robots to try and eventually some official support directly from the fabricators. ABB in this case, (what we are presently trying to get).

Our first interest is related to EPS (or other soft materials) machining (either by wire cutting or milling).

we already have experience with both technologies and processes and also designing and building our own robots (servo cnc tables type).

I personally think that GH like technologies are game changers in many areas... and the field of programming n axis robots (specially when n>3) - ie like 6 axis robotic arms - is one more of those areas where GH and similar programming environments are and will continue to have great impact ..

So... if you share some interests and or did some tests already, let us know...

Comment by Taco on April 17, 2017 at 6:59pm

any questions?

Comment by Bill Bergman on April 17, 2017 at 6:56pm

Hello!  Is anyone out there currently using TACO with an ABB 2600?

Or rather; Is there anyone out there using TACO?


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