Increasing a Program's Startup Speed in Robotiq Palletizer Applications

This article addresses common causes of slow startup times when running Robotiq’s Palletizing Solution on Universal Robots using the Copilot URCap. It helps users identify and minimize performance bottlenecks that can delay program execution.

1. Too many URCaps installed

URCaps are loaded during startup and can affect system performance if too many are installed.

Solution:
- Uninstall unused or outdated URCaps from the Installation tab.
- For detailed steps, see: How to Install or Uninstall a URCap in Universal Robots

2. URConnect enabled

URConnect adds background communication tasks and may increase load time. In some cases, it can also cause the Robotiq controller to disconnect unexpectedly.

Solution:
- Disable URConnect if remote access is not needed.
- You can follow the same process described in: How to Install or Uninstall a URCap in Universal Robots

3. Too many recipes configured in the program

Large numbers of saved recipes can increase initialization time when launching the program.

Solution:
- Clean up unused recipes in the palletizing node.
- Keep only essential configurations.
- To reduce program load time, consider splitting the setup into multiple smaller programs.
  
  For example, instead of managing 40 recipes in one program, create 4 separate programs with 10 recipes each. This helps the system initialize more efficiently and keeps each program lightweight.

4. Excessive number of threads in the program

Threads enable parallel execution but can increase startup time if overused.

Solution:
- Review the program structure and remove unnecessary threads.
- Use threads only where real-time parallelism is required.

Conclusion

By minimizing unused URCaps, disabling non-essential services like URConnect, and streamlining the number of recipes and threads, you can improve the startup speed of your Robotiq Palletizer application.

Need help? Contact Robotiq Support

Updated: January 2026