Home General


Left ArrowBack to discussions page
rflorearflorea Posts: 7 Apprentice
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



  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    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 ?

  • rflorearflorea Posts: 7 Apprentice
    I have 50 rectangles with different length, width and height and time to time it's neccesary to pick one or another.
  • rflorearflorea Posts: 7 Apprentice
    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. 
  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    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.
  • rflorearflorea Posts: 7 Apprentice
    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?
  • bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
    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]).
Sign In or Register to comment.
Left ArrowBack to discussions page