Understanding Cycle Time Estimates in the Online Simulator

This article explains the general expectations around cycle time displayed in the Robotiq Online Simulator versus actual performance in a real robotic setup. While the displayed trajectories reflect the same logic as the physical robot, various real-world factors can affect the final result.

Information

• Trajectory Accuracy:

  • The Online Simulator simulates the same trajectory logic used in real operations.

  • Therefore, cycle times shown should be similar to those seen in physical setups.

• Known Limitations:

  • Position Differences: Minor deviations can occur between simulated and actual robot positions.

  • Right Pallet Only: The Online Simulator averages cycle times using only the right pallet.

  • Grip and Release Time: These may vary depending on the specific hardware and material.

  • Safety Parameters: Real-world safety settings may limit certain trajectories or speeds.

  • Liquid Inertia: Applications involving liquids may trigger protective stops due to inertia.

• Cycle Time Color Codes (Thumb Rule):

  • Collaborative Mode:

    • Green: Up to 6 picks per minute

    • Yellow: 6–8 picks per minute possible (without extra moves or contact detection)

    • Red: Above 8 picks per minute --> most likely unrealistic

  • Non-Collaborative Mode:

    • Green: Up to 8 picks per minute

    • Yellow: 8–10 picks per minute possible (without extra moves or contact detection)

    • Red: Above 10–12 picks per minute (requires testing)

• Online Simulator Parameters:

  • Collaborative Mode :

    • Anchored :

      • Speed with box: 1 m/s

      • Speed without box: 1 m/s

      • Acceleration with box: 2.8 m/s²

      • Acceleration without box: 2.8 m/s²

    • Mobile :

      • Speed with box: 1 m/s

      • Speed without box: 1 m/s

      • Acceleration with box: 2.5 m/s²

      • Acceleration without box: 2.5 m/s²
        
        

  • Non-Collaborative Mode:

    • Anchored :

      • Speed with box: 2.5 m/s

      • Speed without box: 2.5 m/s

      • Acceleration with box: 2.8 m/s²

      • Acceleration without box: 2.8 m/s²

    • Mobile : 

      • Speed with box: 2.0 m/s

      • Speed without box: 2.0 m/s

      • Acceleration with box: 2.5 m/s²

      • Acceleration without box: 2.5 m/s²
        
        

• Operational Delays:

  • Rigid interlayers: Plan for 20 seconds (typically achievable in 12–15 seconds)

  • Soft interlayers: Around 20 seconds

  • Pallet swap delay to use when non collaborative :

    • Default assumption is 1 minute = 60s

    • Faster pallet swaps are possible, down to about 30 seconds, but the shorter the swap the more it constrains the rest of the application.

  • Mechanical gripper :
    • Use your real set up times
    • When no measured value is available, 2 s for the pick and 2.5 s for the release are reasonable starting assumptions.

Conclusion

The Robotiq Online Simulator offers a realistic preview of expected cycle times based on actual robot trajectories. However, real-world factors like mechanical tolerances, safety constraints, and part behavior (especially liquids) must be taken into account.

Need help? Contact Robotiq Support.

Updated: August 25, 2026