How do I calculate robot cycle time from a throughput requirement?

Divide 3,600 seconds by the number of operations per hour. A requirement of 600 parts per hour means one pick every 6 seconds. Allow 85-90% efficiency (OEE) and the robot must complete the cycle in 5.1 to 5.4 seconds, not the full 6 seconds.

What is OEE and why does it matter for cycle time?

OEE (Overall Equipment Effectiveness) accounts for planned downtime, minor stoppages, and speed loss. A robot running at 85% OEE produces 85 parts for every 100 theoretically possible. If you spec the robot at exactly your throughput target with no OEE buffer, any stoppage breaks the line. 85% is a reasonable starting assumption for a new cell.

Which robot format is fastest for pick and place?

SCARA leads at up to 11,000 mm/s TCP speed (Epson G20). Delta follows at 10,000 mm/s (FANUC M-3iA, KUKA KR DELTA). Cobots under ISO 15066 shared-space limits typically deliver 20-40 picks per minute; SCARA and delta deliver 60-150 picks per minute.

Can a cobot meet high throughput requirements?

In most cases, no. Under ISO/TS 15066 power-and-force-limiting mode, cobots are limited to safe TCP speeds that cap throughput at roughly 20-40 operations per minute for typical pick-and-place paths. Above 50 operations per minute, a SCARA or delta is almost always the correct format.

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Cycle Time & Format Estimator

Enter your throughput target, part weight, and OEE buffer. The tool calculates the cycle time your robot must achieve and tells you which format — delta, SCARA, cobot, or articulated — can meet it.

Your production requirements

Operations per hour

picks, placements, welds, screws, etc.

Shifts per day

for annual output calculation

Part + gripper weight (kg) — total mass at flange

used to filter formats by payload limit (e.g. delta max ≈ 8 kg, most cobots ≤ 35 kg)

OEE — efficiency buffer

how much productive time vs. theoretical maximum. 85% is industry average for a new cell.

70% New / conservative 85% Industry average 95% Optimised line

Required cycle time

—

Picks per minute

—

at target OEE

Units per year

—

Format speed range vs your requirement

Delta

150 ppm

SCARA

150 ppm

Articulated

80 ppm

Cobot

40 ppm

Bar = format maximum ppm. Needle ▼ = your required ppm. Needle outside bar = format cannot meet target.

Format suitability

Important: this is a format filter, not a simulation

Cycle time depends on path length, payload, acceleration profile, and motion type — not just maximum TCP speed. These estimates use published maximum TCP speeds as a proxy for format capability. Validate against a realistic simulated path before selecting a model.

Speed data: FANUC M-3iA (10,000 mm/s TCP), Epson G20 (11,000 mm/s TCP); ISO/TS 15066 for cobot limits. Manufacturer datasheets.

Next steps

Delta robots Up to 150 ppm, IP69K SCARA robots Up to 150 ppm, ±0.01 mm Payload sizing tool Check payload class

Frequently asked questions

How do I calculate required robot cycle time? +

Divide 3,600 by operations per hour to get the theoretical cycle time. Then divide by your OEE factor. At 600 ops/hr and 85% OEE: 3,600 ÷ 600 × 0.85 = 5.1 s. The robot must complete each cycle in 5.1 s, not the 6-second theoretical.

What is OEE and why does it matter? +

OEE (Overall Equipment Effectiveness) accounts for stoppages, speed losses, and quality losses. A robot at 85% OEE produces 85 units for every 100 theoretically possible. Spec without an OEE buffer and any stoppage breaks the production target.

Which robot format is fastest? +

SCARA leads at up to 11,000 mm/s TCP speed (Epson G20). Delta follows at 10,000 mm/s (FANUC M-3iA). Cobots under ISO 15066 shared-space limits are capped well below these figures — typically 20 to 40 picks per minute.

Can a cobot meet my throughput target? +

At above 50 operations per minute, probably not in shared-space mode. ISO/TS 15066 PFL speed limits typically cap cobots at 20 to 40 picks per minute. Above 50 ppm, a SCARA or delta is almost always the correct format.

Does the estimator account for path length or robot arm size? +

No — the estimator uses published maximum TCP speed for each format as a proxy. Actual cycle time depends on path length, acceleration profile, and payload. Use this as a format filter; validate with a simulation once you have a shortlist.