diff --git a/src/ur_robotiq_servo/config/ps5-params.yaml b/src/ur_robotiq_servo/config/ps5-params.yaml
index e9dde97..a794ab0 100644
--- a/src/ur_robotiq_servo/config/ps5-params.yaml
+++ b/src/ur_robotiq_servo/config/ps5-params.yaml
@@ -1,7 +1,7 @@
 ps5_servo_node:
     ros__parameters:
       linear_speed_multiplier: 0.5
-      gripper_position_multiplier: 0.006
-      gripper_cycle_time: 0.01
+      gripper_position_multiplier: 0.01
+      gripper_cycle_time: 0.25
       gripper_lower_limit: 0.0
       gripper_upper_limit: 0.14
\ No newline at end of file
diff --git a/src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py b/src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py
index e0d44fe..7ff9ffe 100644
--- a/src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py
+++ b/src/ur_robotiq_servo/ur_robotiq_servo/ps5_control.py
@@ -124,7 +124,7 @@ class PS5ControllerNode(Node):
 
     def publish_gripper_command(self):
         if self.gripper_cmd is not None:
-
+            self.get_logger().debug(f'Publishing gripper command: {self.gripper_cmd}')
             new_gripper_position = self.gripper_cmd + self.last_gripper_gap
             if new_gripper_position >= self.gripper_upper_limit:
                 new_gripper_position = self.gripper_upper_limit
@@ -135,7 +135,7 @@ class PS5ControllerNode(Node):
             self.gripper_cmd = 0.0
             gripper_msg = ForwardCommand()
             gripper_msg.position = new_gripper_position
-            gripper_msg.max_velocity = 0.1
+            gripper_msg.max_velocity = 0.01
             gripper_msg.max_effort = 235.0
             self.gripper_cmd_pub.publish(gripper_msg)
         else: