Servo Stop

SUMMARY

Servo Stop stops any active servo motion started with servo_joint or servo_cartesian. The robot decelerates at the given rate and comes to a halt.

SUPPORTED ROBOTS

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

The Skill

robot.servo_stop(deceleration=10.0)

The Code

Example: Stop an Active Servo Motion

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)

robot.servo_stop(deceleration=10.0)
logger.success("Servo motion stopped.")

# Disconnect
robot.disconnect()

The Explanation of the Code

servo_stop sends a stop command to end any active servo motion. deceleration controls how quickly the robot decelerates, in deg/s². Always call servo_stop after a servo_joint or servo_cartesian loop to ensure the robot comes to a controlled stop.

How to Tune the Parameters

Parameter	Type	Default	Description
deceleration	float	10.0	Joint deceleration in deg/s².

Return Value

Value	Description
None	This skill returns nothing.

Where to Use the Skill

• Always called to cleanly end a servo loop.
• Also used in error handlers to stop servo motion safely.

When Not to Use the Skill

Use a different skill instead in these cases:

• Use Stop Cartesian Motion or Stop Joint Motion for stopping standard set_cartesian_pose or set_joint_positions moves.