Set Speed

SUMMARY

Set Speed configures the default finger motion speed used by subsequent move, open, and close commands when those calls pass speed=-1.0.

Robotiq defaults to 100% after connect. Call set_speed only when a different session-level default is needed.

The Skill

actual_speed = gripper.set_speed(speed=50.0)

The Code

Example: Set a Slow Speed for Fragile Objects

from telekinesis.synapse.tools.parallel_grippers import robotiq

gripper = robotiq.Robotiq2F85()
# Connect
gripper.connect(ip="192.168.1.1", protocol="RTDE")
# Set speed unit
gripper.set_unit("speed", "percent")
# Set default speed to 20%
actual_speed = gripper.set_speed(speed=20.0)
print(f"Speed set to: {actual_speed}%")
gripper.close(speed=-1.0, force=60.0)
# Disconnect
gripper.disconnect()

The Explanation of the Code

set_speed stores a session-level default speed. It applies to subsequent move, open, and close calls when those calls pass speed=-1.0. The method returns the actual speed value accepted by the backend, which may differ from the input if clamped by the hardware.

Default. After connect, the speed is automatically set to 100% in percent units. Only call set_speed to change this default.

-1.0 preset passthrough. Passing -1.0 instructs the backend to keep its current internal preset without overriding it from software.

Return Value

Type	Description
float	The actual speed value accepted by the backend (may be clamped).

How to Tune the Parameters

Robotiq 2F-85

Parameter	Type	Default	Description
speed	float	—	Desired speed in percent (0–100). Pass -1.0 to use the backend's current preset.

OnRobot RG2 / RG6

Speed control is not supported. OnRobot grippers move at a fixed internal rate — speed commands are silently ignored.

TIP

For pick-and-place of rigid objects, keep speed at 100% to minimise cycle time. For fragile or deformable objects, reduce to 20–40%.

Where to Use the Skill

• Fragile objects — Reduce speed to lower contact impact force when closing on delicate parts
• High-throughput tasks — Set to 100% to minimise open/close cycle time
• Backend-controlled speed — Pass -1.0 to respect a speed preset configured on the gripper hardware

When Not to Use the Skill

Do not call set_speed when:

• The default speed is acceptable — Robotiq defaults to 100% after connect; only call if a different speed is needed
• Speed is passed per-call — if every move/open/close already includes an explicit speed argument, this call is redundant

Supported Grippers

Gripper	Supported
OnRobot RG2	❌ Hardware limitation — no speed control
OnRobot RG6	❌ Hardware limitation — no speed control
Robotiq 2F-85	✅
Schunk EGU-50	Coming Soon!