Telekinesis Agentic Skill Library

Appearance

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

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

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
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

s = robot.get_speed_scaling_combined()
logger.info(f"Combined speed scaling: {s:.3f}")

# Disconnect
robot.disconnect()

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 (returned by Get Speed Scaling) and the programmatic target speed fraction (returned by Get 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 ​

Do not use Get Speed Scaling Combined when: