Speed Stop
SUMMARY
Speed Stop stops any active speed controller motion started with speed_joint or speed_cartesian. The robot decelerates at the specified 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
python
robot.speed_stop(deceleration=10.0)The Code
Example: Stop an Active Speed Controller
python
import time
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.speed_joint(qd=[3.0, 0.0, 0.0, 0.0, 0.0, 0.0], acceleration=0.5)
time.sleep(2)
robot.speed_stop(deceleration=10.0)
logger.success("Speed controller stopped.")
# Disconnect
robot.disconnect()The Explanation of the Code
speed_stop stops the active speed controller (speed_joint or speed_cartesian). deceleration is the joint deceleration in deg/s² — lower values produce gentler stops, higher values produce faster stops. Always call speed_stop to cleanly end a speed control session.
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 end a speed controller session.
- Error handlers that need to stop continuous velocity motion safely.
When Not to Use the Skill
Use a different skill instead in these cases:
- Use Servo Stop to stop servo motion.
- Use Stop Cartesian Motion or Stop Joint Motion for standard position-commanded moves.