How many Caps are recommended to be installed on the UR OS at once

Technical Questions
1

I have recently been working on integrating a Cobot for a palletising system whereby it has the Pally Cap, LiftKit Cap, and Gripper Cap all installed on the system.

The system seemed a little sluggish and was throwing random errors out during running, some points not even running at all. With this in mind, we figured that having 3 UR Caps installed at the same time could be a little heavy, so removed the Gripper cap and hard wired the vacuum signals to a compute box to get round this.

Does anyone know if 3 caps would be too much for the system to cope with, or should it run comfortably?

TIA

2

Hi Jack…

I’ve previusly been using 3-4 urcaps at once with out problems on a UR10e series.
And I have only noticed “slugginess” when the program becomes really long like + 500 lines.
But when that have been said I dont think all URcaps are created equal if the Urcaps your are using have a lot of daemons and threads being used (basically have a lot of things running i parrallel), it would effect the system way more…

Best Regards Cg1