Why is the required speed higher than path length ÷ time?

Because every move starts and ends at rest. Each stop costs speed ÷ acceleration seconds against cruising the whole way, so cruise speed must beat the average.

Does turning stop points into fly-by points help?

Yes. A fly-by point changes direction without stopping, so each blended stop saves up to speed ÷ acceleration seconds: the time lost to acceleration row ÷ stops.

What acceleration should I enter?

The acceleration your move instructions command, or a simulation trace reports. A datasheet maximum is optimistic when the gripper holds a heavy or loose part.

Why does the robot miss takt below its maximum speed?

Short moves never reach full speed. A move shorter than speed² ÷ acceleration starts braking before reaching that speed, so the fastest possible cycle row, not the datasheet speed, is the limit.

Robotics & Automation calculator

Robot Arm Speed Calculator

Find the tool speed to program so a robot finishes its moves within takt, counting the time it loses speeding up and slowing down at every stop. You need takt, dwell, path length, stops, acceleration and maximum speed.

What this calculator does

The tool speed to program so a robot makes takt on your path, and whether its maximum speed allows it.

Formula used

Time left for motion = takt − dwell; path efficiency at takt = time left ÷ takt × 100
Motion time = path length ÷ speed + stops × speed ÷ acceleration (mm/sec² = m/s² × 1,000)
Required speed = 2 × path length ÷ (time left + √(time left² − 4 × stops × path length ÷ acceleration))
Time lost to acceleration = stops × required speed ÷ acceleration; share of maximum = required ÷ maximum speed × 100
Fastest cycle = dwell + path length ÷ v + stops × v ÷ acceleration, v = MIN(maximum speed, √(acceleration × path length ÷ stops))

Inputs explained

Takt Time: Seconds allowed per robot cycle: available time ÷ cycles needed.
Dwell Time per Cycle: Gripper, I/O handshake and programmed waits with the robot stopped.
Path Length per Cycle: Tool path for the whole cycle, return included, from simulation.
Stops per Cycle: Stop points per cycle; blended fly-by points do not count.
Acceleration: Tool acceleration your move instructions command, or simulation reports.
Maximum Tool Speed: Datasheet maximum, or lower if gripper hold or safety limits apply.

How to use the result

Best suited to checking a robot can make takt before layout, deciding between blending stops and buying speed.
Controllers also limit jerk and slow for corners, so real moves run longer; confirm in simulation. Joint limits and payload can cap tool speed below maximum in parts of the envelope.

Current U.S. benchmarks

Global copper trades at $13,543 per tonne (IMF via FRED, Jul 2026), up 38.6% in a year, and U.S. industrial electricity averages 9.77 cents per kWh. Both feed electrified-hardware unit economics.

Common questions

Why is the required speed higher than path length ÷ time? Because every move starts and ends at rest. Each stop costs speed ÷ acceleration seconds against cruising the whole way, so cruise speed must beat the average.
Does turning stop points into fly-by points help? Yes. A fly-by point changes direction without stopping, so each blended stop saves up to speed ÷ acceleration seconds: the time lost to acceleration row ÷ stops.
What acceleration should I enter? The acceleration your move instructions command, or a simulation trace reports. A datasheet maximum is optimistic when the gripper holds a heavy or loose part.
Why does the robot miss takt below its maximum speed? Short moves never reach full speed. A move shorter than speed² ÷ acceleration starts braking before reaching that speed, so the fastest possible cycle row, not the datasheet speed, is the limit.

Last reviewed 2026-10-01.