We have seen this occur on a few different occasions now. With UR software 3.4.1-59 and URCaps UCG-1.1.1, there is roughly a 30 second pause/lag time between when the "Play" button is pressed and the robot program actually starting. I wrote a simple program with a couple of Moves only and ran it with the URCaps installed, at which point the long lag time is there. I removed the Gripper URCaps, made no other changes to the UR, ran the same program, and it started right away. Has anyone else experienced a similar issue?