Why doesn't a higher programmed speed shorten my short moves?

Because a short move runs out of distance before reaching that speed. A move needs programmed speed² ÷ acceleration to speed up and stop again: 200 mm at 1,000 mm/sec and 5 m/s². Shorter moves peak lower, so only higher acceleration or fewer stops helps.

Where do I find the acceleration in m/s²?

Read it from the move instruction or a simulation. Universal Robots linear moves (movel) take tool acceleration in m/s², default 1.2. If your program sets a percentage, time one measured move and solve for it.

My moves differ in length; is an average good enough?

Yes, and it errs on the long side. Each extra millimeter of a move costs no more time than the last, so splitting the same path unevenly never takes longer. It is exact when every move reaches programmed speed.

Does travel time include gripper and I/O waits?

No, it is motion only. Add gripper, handshake and programmed waits from Robot Dwell Time, then check the total against takt in Robot Cycle Time.

Robotics & Automation calculator

Robot Travel Time Calculator

Find how long a robot spends moving each cycle, and whether a move of average length reaches the programmed speed. You need the path length, the number of stops, and the programmed speed and acceleration.

What this calculator does

Seconds a robot spends moving each cycle, from path length, stops, programmed speed and acceleration, and whether an average move reaches programmed speed.

Formula used

Move length d = path length ÷ stops; acceleration a (mm/sec²) = m/s² × 1,000
Peak speed = MIN(programmed speed, √(d × a)); full speed needs d ≥ programmed speed² ÷ a
Travel time = stops × (d ÷ peak speed + peak speed ÷ a)
Constant-speed time = path length ÷ programmed speed
Speed-change overhead = (travel time ÷ constant-speed time − 1) × 100

Inputs explained

Path Length per Cycle: Tool center point path from the simulation, or summed move lengths.
Stops per Cycle: Points programmed with a full stop (fine, zero blend radius).
Programmed Speed: Linear tool speed set in the move instructions.
Acceleration: Tool acceleration set in the program or reported by simulation.

How to use the result

Best suited to choosing between a faster speed setting and blending, estimating motion time before a cell quote.
Jerk-limited (S-curve) acceleration and blended corners add time the trapezoid leaves out. Joint moves set as a percent of axis speed need their tool speed from a simulation.

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 doesn't a higher programmed speed shorten my short moves? Because a short move runs out of distance before reaching that speed. A move needs programmed speed² ÷ acceleration to speed up and stop again: 200 mm at 1,000 mm/sec and 5 m/s². Shorter moves peak lower, so only higher acceleration or fewer stops helps.
Where do I find the acceleration in m/s²? Read it from the move instruction or a simulation. Universal Robots linear moves (movel) take tool acceleration in m/s², default 1.2. If your program sets a percentage, time one measured move and solve for it.
My moves differ in length; is an average good enough? Yes, and it errs on the long side. Each extra millimeter of a move costs no more time than the last, so splitting the same path unevenly never takes longer. It is exact when every move reaches programmed speed.
Does travel time include gripper and I/O waits? No, it is motion only. Add gripper, handshake and programmed waits from Robot Dwell Time, then check the total against takt in Robot Cycle Time.

Last reviewed 2026-10-01.