Telekinesis Agentic Skill Library

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Get Speed Scaling Combined ​

SUMMARY

Get Speed Scaling Combined returns the product of the teach-pendant speed slider value and the programmatically set target speed fraction. This combined factor is the actual scaling applied to all robot motions.

Use this skill when you need the effective speed multiplier that the controller is currently applying.

SUPPORTED ROBOTS

Currently supported only on Universal Robots.

UNITS

Returns a dimensionless fraction in [0.0, 1.0].

The Skill ​

python
combined = robot.get_speed_scaling_combined()

The Code ​

Example: Read the Combined Speed Scaling Factor ​

Connect to the robot, read the combined speed scaling, and log it.

python
"""
Read combined speed scaling example for the Synapse SDK.

``get_speed_scaling_combined`` returns the **actual effective** speed
scaling applied during motion.

Currently supported only for Universal Robots (UR10e).

Usage:
    python get_speed_scaling_combined.py --ip <ROBOT_IP>
"""

import argparse
from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str):
    """Log the combined runtime speed scaling [0.0, 1.0]."""

    # Create and connect to the robot
    robot = universal_robots.UniversalRobotsUR10E()
    robot.connect(ip=ip)

    try:
        combined = robot.get_speed_scaling_combined()
        logger.success(f"Combined speed scaling: {combined:.3f}")
    finally:
        robot.disconnect()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Read combined speed scaling Synapse example")
    parser.add_argument("--ip", type=str, required=True, help="UR robot IP address")
    args = parser.parse_args()

    main(ip=args.ip)

The Explanation of the Code ​

get_speed_scaling_combined returns the combined speed scaling factor as a float in [0.0, 1.0]. This is the product of the teach-pendant speed slider and the programmatic target speed fraction. A value of 1.0 means full speed; 0.5 means 50% of programmed speed.

How to Tune the Parameters ​

This skill takes no parameters.

Return Value ​

TypeDescription
floatCombined speed scaling factor [0.0, 1.0]: product of the teach-pendant slider and programmatic speed fraction.

Where to Use the Skill ​

  • Effective speed monitoring - Determine the true speed scaling applied to all motion commands
  • Adaptive motion planning - Adjust trajectory parameters based on the current effective speed

When Not to Use the Skill ​

This skill has no narrower alternative - it returns the effective speed scaling that the controller is actually applying.