Gripper Set Max Pump Speed

SUMMARY

Set Max Pump Speed configures the maximum speed of a suction gripper's vacuum pump.

This skill is used to tune how quickly vacuum builds - lower speeds reduce noise and air consumption; higher speeds reduce cycle time.

SUPPORTED GRIPPERS

Available on Piab suction grippers.

UNITS

max_speed in percent (0-100).

The Skill

gripper.set_max_pump_speed(max_speed=80)

The Code

Example: Reduce Pump Speed for a Quiet Cell

"""
Piab set_max_pump_speed example for the Synapse SDK.

Reduces the maximum pump speed to 60%, then grasps.

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

import argparse
from loguru import logger

from telekinesis.synapse.tools.suction_grippers import piab


def main(ip: str):
    """Reduce the maximum pump speed, then grasp."""

    # Create and connect to the gripper
    gripper = piab.PiabPiCobotElectric()
    gripper.connect(ip=ip, protocol="URCAP")

    try:
        gripper.set_max_pump_speed(60)
        gripper.grasp()
        logger.success("Grasped with pump speed capped at 60%.")
    finally:
        gripper.disconnect()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Piab gripper set_max_pump_speed example")
    parser.add_argument("--ip", type=str, required=True, help="UR controller IP address")
    args = parser.parse_args()

    main(ip=args.ip)

Parameter Configuration

Parameter	Type	Default	Description
max_speed	int	-	Maximum pump speed as a percentage, 0-100.

Returns

This skill returns nothing (None).

Raises

Exception	Condition
TypeError	max_speed is not an integer
ValueError	max_speed is outside 0 to 100
ConnectionError	The backend is not connected
RuntimeError	The command fails, or the gripper is not connected
NotImplementedError	On MODBUS_RTU, because the pump's serial protocol documentation lists no parameter index for the maximum pump PWM; on ISAACSIM, because the simulation has no pump

How to Tune the Parameters

max_speed only caps how fast the pump is allowed to ramp toward the target vacuum level set by grasp/set_vacuum_level - it does not change that target. Lower it in noise-sensitive cells or where compressed-air supply is limited; raise it, or leave it at the gripper's unrestricted default, when cycle time matters more than noise or air use. This parameter is only available when protocol="URCAP" - it raises NotImplementedError on MODBUS_RTU and on ISAACSIM.

Where to Use the Skill

• Noise-sensitive cells - Cap pump speed to reduce audible noise in shared workspaces
• Air-consumption limits - Lower the cap when the facility's compressed-air supply is constrained

When Not to Use the Skill

Do not use Set Max Pump Speed when:

• The gripper is not connected - always call connect before issuing commands
• Fast cycle time is the priority - leaving the pump at its default (unrestricted) speed grasps fastest