Hello,
I got an issue with an UR3 CB3 linked to a SICK Inspector PIM60 via ethernet.
I want to make the Cobot grab an object, then come back to the initial position (the program is only for test purpose right now).
My issue is that it takes between 10 and 15 seconds between the moment the step “MoveToCamPose” activate and the moment it starts to move towards it. The camera lag is ≈2s, but I would like to know where the other 8 to 13 seconds come from, and how to remove/reduce them.
I linked pictures of all the program and the camera setup if it can help solve my issue.
Regards,
MARZIN Yann
Hello Marzin,
If you do not find an answer here, I would recommend you contact SICK themselves, since it’s their product that is causing the delay. 
Hello!
After updating Polyscope and URcaps, the issue solved itself! - and the delay got reduced to a steady 2 seconds.
We think the URcaps update is what solved it.
so if you got similar issue, try updating URcaps.
Have a nice day