Telekinesis Agentic Skill Library

Appearance

Get Target Speed Fraction ​

SUMMARY

Get Target Speed Fraction returns the target speed fraction set by the teach-pendant speed slider as a float in [0.0, 1.0]. It is one of the two factors whose product is reported by Get Speed Scaling Combined.

SUPPORTED ROBOTS

Currently supported only on Universal Robots.

UNITS

Returns a dimensionless fraction in [0.0, 1.0].

The Skill ​

python
fraction = robot.get_target_speed_fraction()

The Code ​

Example: Read the Teach-Pendant Speed Slider ​

Connect to the robot, read the target speed fraction, and log it.

python
"""
Read target speed fraction example for the Synapse SDK.

``get_target_speed_fraction`` returns the **target/desired** speed fraction
set by the operator — either via the teach-pendant speed slider 

Currently supported only for Universal Robots (UR10e).

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

import argparse
from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str):
    """Log the target speed fraction [0.0, 1.0]."""

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

    try:
        fraction = robot.get_target_speed_fraction()
        logger.success(f"Target speed fraction: {fraction:.3f}")
    finally:
        robot.disconnect()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Read target speed fraction 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_target_speed_fraction returns the teach-pendant speed slider value as a float in [0.0, 1.0]. A value of 1.0 means the slider is at 100%; 0.5 means the operator has limited motion to 50% of the programmed speed. This factor is combined with the controller's runtime speed-scaling factor (safety slowdowns, program-level overrides, etc.) to produce the effective scaling returned by Get Speed Scaling Combined.

How to Tune the Parameters ​

This skill takes no parameters.

Return Value ​

TypeDescription
floatTarget speed fraction [0.0, 1.0] from the teach-pendant speed slider.

Where to Use the Skill ​

  • Operator-override detection - Detect when the operator has lowered the speed slider mid-task.
  • Adaptive program logic - Skip or extend dwell times based on the operator-selected speed.

When Not to Use the Skill ​

  • You need the effective scaling actually applied - use Get Speed Scaling Combined, which folds in runtime safety / program scaling on top of the slider value.