I have two mainly used programs with different installations (only differences are the names of the digital outs and soma variables) on my UR16e.
And sometimes when I switch from one program to the other the attached error message is shown.
Do you have any additional URCaps installed?
Can you provide a flight record?
Would you be able to collect some additional files from the robot? It would greatly help us narrow down where the problem is.
If you could log into the robot’s terminal, you will find some files starting with HeapThresholdWatcher-* in the name inside /tmp directory.
Going forward, the future releases of software will have these files automatically included in a flight report / support file.