Cycle Time

RoboDK can provide cycle time estimates when you simulate a program. The cycle time is the time that it takes for a program to complete. The accuracy of the cycle time provided by RoboDK highly depends on many factors, including the robot controller, the type of robot movements (joint vs. linear movements), the use rounding and the real speed/acceleration limitations.

Under the right circumstances, RoboDK can accurately calculate the cycle time. This happens when you program the robot to make accurate point to point movements (without rounding) and you do not exceed the real speed and acceleration limitations.

The robot speed and acceleration are important as they are robot dependent. The robot speed and accelerations (linear and joint speed/acceleration) must be provided as an instruction or in the robot parameters menu. For example, you can change the speed in a program using the Set Speed Instruction. RoboDK assumes that the robot has a uniform acceleration up to when it reaches the maximum speed, then, uniform deceleration.

By default, RoboDK uses joint speed and joint acceleration for joint moves and linear speed and linear acceleration for linear moves. This setting can be changed (in ToolsOptionsMotionMove time calculation).

General - Image 31