Error - Latency Observed with the Wrist Camera

Context

This article helps troubleshoot latency issues observed when using the Wrist Camera in a UR robot program. The problem usually appears after the program has been running for a while and may lead to delayed or unresponsive behavior from the vision system.

Information

1. Free up memory space on the robot

Latency often stems from memory saturation. The robot accumulates data over time—especially backups and software installations—which can overload the system.

To clear space:

Delete unused program backups.
Uninstall unnecessary URCap or Polyscope versions.

2. Reduce overall program complexity

The robot loads the entire program into RAM—even sub-programs. If your program is too large, this can contribute to slowdowns.

Tips:

Break down large programs into smaller, modular sub-programs.
Keep only essential routines loaded at runtime.

3. Limit Cam Locate node usage

Vision-related nodes, especially Cam Locate, can be memory-intensive. The more nodes used, the higher the system load.

Recommendations:

Avoid using more than 10–12 Cam Locate nodes per program.
Optimize each node for efficiency (e.g., avoid redundant searches).

4. Update Polyscope and Robotiq URCap

Using outdated software can contribute to latency or compatibility issues.

To update:

Download the latest Polyscope version from the Universal Robots support site.
Download the latest Robotiq URCap version from the Robotiq Support page.

Conclusion

Latency with the Wrist Camera is usually caused by memory overload, excessive Cam Locate usage, or outdated software. Cleaning up memory, reducing program size, and updating your tools are effective ways to improve performance.

Useful links:

If you continue to experience issues, contact Robotiq Support.