Pakistan were 323 for nine leading South African first innings total by 103.
Rabada made his Test debut against India at Mohali in 2015 and becomes the eighth South African to take 200 or more wickets in Tests.
Dale Steyn (439) leads the list followed by Shaun Pollock (421), Makhaya Ntini (390), Alan Donald (330), Morne Morkel (309), Jacques Kallis (291) and Vernon Philander (224).