Robot Cycle Time Calculator
The cycle time of a robot from the moves it makes — each a trapezoidal profile of acceleration, cruise and deceleration — plus the dwells for gripping and processing, and the parts per hour and per shift that follow.
A robot move accelerates, cruises at its maximum speed and decelerates.
How the robot cycle time calculator works
A robot move accelerates, cruises at its maximum speed and decelerates. Short moves never reach cruise and take twice the square root of distance over acceleration; long ones take the distance over speed plus one speed-over-acceleration for the ramps. Add the moves and the fixed dwells — gripper close, sensor confirm, process — and you have the cycle.
The result is usually dominated by dwells, not motion, which is why the fastest robot rarely makes the fastest cell.
Formula: per move: t = 2√(d/a) if d < v²/a, else d/v + v/a; cycle = Σ moves + dwells
Worked examples
| Inputs | Cycle time (s) | Note |
|---|---|---|
| Six 600 mm moves and 1.2 s of dwell | 5.4 | about 5.4 s |
| Short moves | 3.278 | triangular profile |
| Dwell-dominated | 8.2 | a faster robot barely helps |
FAQFrequently asked questions
What is a trapezoidal motion profile?
Accelerate at a constant rate, cruise at maximum speed, decelerate at the same rate — a trapezium on the velocity–time graph. Short moves become triangles because they never reach cruise.
Why do dwells dominate?
Because gripping, sensing and waiting for a process take fixed time regardless of robot speed. A cell with four seconds of dwell gains little from a robot twice as fast.
What availability should I assume?
Eighty-five to ninety-five per cent for a well-run cell, covering part changes, faults and refills. It is the OEE availability term.
Does path shape matter?
Yes — joint moves, blended corners and reduced settling all change the real time. This page is the straight-line estimate; the controller's simulation refines it.
How do I cut the cycle?
Shorten the moves, overlap dwells with motion where the process allows, and only then buy speed. The dwell-halved row shows the prize.
Where these figures come from
- Nakajima (1988) — Introduction to TPM — the origin of Overall Equipment Effectiveness and its six big losses
- Health and Safety Executive — the UK workplace safety regulator
Last checked: September 2026. Definitions follow standard operations-management practice; where plants commonly differ, the page says so.