Additive manufacturing (AM) has supposed a revolution in the way of manufacturing parts,from the design to the machining. Many materials can be used with AM, from polymers or ceramics to metals. If talking about metals, Wire Arc Additive Manufacturing (WAAM) has increased its popularity in the last years, most of all, due to its high deposition rates. However, WAAM still has to deal with a series of challenges to be business competitive: residual stresses and distortions, monitoring and process control or the translation of the CAD design to the robotic system in an efficient way are some of the main WAAM challenges. The CAD design is first sliced into a set of layers, and after a deposition strategy is given to each layer. The deposition strategy consists in a set of move instructions codified in G-Code language in order to be understood by CNC machines. Nevertheless, if these move instructions are wanted to be translated to an ABB robotic system, RAPID language is needed. For that purpose, in collaboration with other developer, a method to convert G-Code language to RAPID language was developed in the present work. Additionally, intending to the research of the optimal WAAM process parameters, a tool to modify the orientation of the torch, which is one of the most influent WAAM process parameters, was developed. By the utilization of c sharp programming language in Microsoft Visual Studio, in combination with RobotStudio Software Developer Kit (RobotStudio SDK), which through a set of libraries allows the interaction between Visual Studio and RobotStudio, a method to transform GCode to RAPID code and import it to RobotStudio, and a tool to modify the orientation of the torch were implemented.First, a literature review of the WAAM’s slicing procedures, main process parameters and principal challenges, which lead to the goal of the project, were described. Second, the activities carried out during the project, deepening in the programming part were explained. Finally, the results obtained, and conclusions were presented. The results present a program capable to convert a given G-Code program into its equivalent RAPID program, which can be loaded to RobotStudio, and a RobotStudio tool to modify the orientation of the torch in a simple and quick way.