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.

UNITS

Returns a dimensionless fraction in [0.0, 1.0].

The Skill

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.

"""
Logs the target speed fraction set by the operator via the teach-pendant speed slider.

Supports Universal Robots (UR).

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 | None) -> None:
    """Log the target speed fraction [0.0, 1.0]."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    try:
        #===================== Connect Robot ==========================================
        if ip:
            robot.connect(ip=ip)

        # ==================== Run Skill ============================================
        fraction = robot.get_target_speed_fraction()
        logger.success(f"Target speed fraction: {fraction:.3f}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Read target speed fraction Synapse example")
    parser.add_argument("--ip", type=str, default=None,
                         help="UR robot IP address for real hardware, e.g. 192.168.1.100")
    args = parser.parse_args()

    main(ip=args.ip)

Running the Example

Real

python get_target_speed_fraction.py --ip 192.168.1.100

For all options:

python get_target_speed_fraction.py --help

Parameter Configuration

This skill takes no input parameters.

Returns

Type	Description
float	Target speed fraction [0.0, 1.0] from the teach-pendant speed slider.

Raises

Exception	Condition
RuntimeError	The robot is not connected (connect() was not called, or the connection has been lost)

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.