Delay with Sick Inspector

Technical Questions
1

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

20240115_161608 - copie
20240115_161608 - copie1290×968 152 KB

20240115_161615 - copie
20240115_161615 - copie1290×968 150 KB

20240115_161624 - copie
20240115_161624 - copie1290×968 146 KB

20240115_161656 - copie
20240115_161656 - copie1290×968 121 KB

20240115_161700 - copie
20240115_161700 - copie1290×968 126 KB

2

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. :slight_smile:

3

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