Wrist Camera and UR3: What is the solution when the memory is full?

rflorea

I'm using UR3 with Robotiq Wrist Camera and Vacuum Grippers to pick and place objects.  Objects are teached using Parametric Method and I have one big program with subprograms (CamLocate) for 50 objects.

When I try to teach a new object I got some error message when I click on save icon (something like I can't save).
After the save command, main program have 0MB and I can't load this file along with installation file where I have snapshot position.

Where are stored all these objects learned by Wrist Camera? How can I have more space and learn more objects?
How could I optimize memory usage and solve this problem?

Linux free command show me this:

free -h

           total       used       free     shared    buffers     cached

Mem: 1,8G       1,6G       215M         0B        65M       577M

bcastets

Objects learned by the camera are stored in installation file and program file.

50 camlocate is a lot of a single program. It is good practise to have program with a limited number of camlocate (less than 10).

Do you have 50 different object shapes ?

rflorea

I have 50 rectangles with different length, width and height and time to time it's neccesary to pick one or another.

rflorea

For every rectangle I have one subprogram PickX which contains CamLocate, Vacuum On and MoveUp (something like this). These subprograms are called at the beginning of the robot program in a loop that contains an if for each of them. 

bcastets

I see, not easy to decrease the number of camlocate.
On the robot side you could eventually try to make a new robot image. This way we start from something clean. Dont forget to keep robot calibaration files if you do that.

rflorea

One additional question regarding cleaning memory.
I have this path /dev/disk/by-uuid/...  1,8G  1,8G     0 100% / which is 100% used.  Is this 1.6GB the internal memory of the teach pendant?

What could be the implications of this 100% occupancy percentage and what should be deleted to clean up and get out of this situation? What paths or folders are involved in this memory?

 

bcastets

I would recommand to contact UR support team. You could also contact robotiq support team if you need more assistance from Robotiq side ([email protected]).