Sometimes, you can observe some latence on your program with the Wrist Camera.
Solution
The most plausible would be that the robot is saturated in memory and piles until the error pops up. This would explain why it happens after some time at regular intervals.
This could be solved by freeing some space by erasing unused program backups and installations.
Your program may also be too large for the robot's RAM as it always opens the whole program even when some parts are sub-programs. As Cam Locate nodes can get heavy on the system depending on their number in the program and the complexity of each, there may be too many if you have more than a dozen.
Perhaps some update need to be done on the version of Polyscope and Urcap. To do so, you can download the last version of Polycope on the UR Website and the last version of Urcap on our website here : https://robotiq.com/support