# How to calculate Cycle time for Robot(M900iA) Movement's of 03nos

• Hello,

I want to calculate cycle time for Material Handling Robot(M900iA) movement's of 03nos.

1.Robot Waiting for Part Pick by Machine no.01(outside from light curtain) TO Robot out from Machine no.01 by taking Part. (came outside
from light curtain)
2.Robot out from Machine no.01 by taking Part TO Robot Waiting for Part Drop into machine no.02 (robot is outside from machine no.02
& is at outside from light curtain)
3.Robot Waiting for Part Drop into machine no.02 (robot is outside from machine no.02 & is at outside from light curtain) TO Robot
cameout by partdrop in machine no.02 (ROBOT IS OUT OF LIGHT CURTAIN OF MACHINE NO.02)

In Simple Language....
1.Robot Pick pounce TO Robot Part Clear
2.Robot Part Clear TO Robot Drop Sneak
3.Robot Drop Sneak TO Robot Drop Clear

Note: 03 registers & 03 Timer's need to use for this.

Can you please suggest the suitable LOGIC or BG LOGIC for this!

All power is within you; you can do anything and everything. Believe in that; do not believe that you are weak; do not believe that you are half-crazy lunatic, as most of us believe now-a-days. You can do anything and everything, without even the guidance of any one. All power is there. Stand up and express the divinity within you--Swami Vivekananda

Edited once, last by swapnil ().

• Basically, there are 4 instructions you need. These are:

Code
``````TIMER[x] = START
TIMER[x] = STOP
R[y] = TIMER[x]
TIMER[x] = RESET``````

You can for example stop, reset, and then start the timer (stop and reset before start to assure that the timer starts from 0) in your TP program when the robot is about to perform a desired operation and then monitor a light grid signal in the BG-Logic and stop, save and reset the timer when the robot is out of it.

• bidzej: Thanks for the reply & Quick Solution!

In this can we run the same in BG LOGIC?
beacuse I've more than 40 Programme(s) so i need to apply this logic for every indiviual programme.

All power is within you; you can do anything and everything. Believe in that; do not believe that you are weak; do not believe that you are half-crazy lunatic, as most of us believe now-a-days. You can do anything and everything, without even the guidance of any one. All power is there. Stand up and express the divinity within you--Swami Vivekananda