Preparing the published article.
Robot Cycle Time: How to Measure It Properly
Cycle time is the whole work step, not a rated speed figure.
Method
Time the complete step including pick, travel, process, place and any waiting for fixture actions or safety signals. Take several consecutive measurements and use the stable value.
What changes it
Path length and posture changes, acceleration settings, gripper action time, vision processing, and coordination with upstream and downstream stations.
Acceptance advice
Agree the measurement method and the run duration in the technical agreement, then verify under continuous operation.