It is not a harvest cycle at a fixed robot position that really counts in practice. It is the average performance of such a machine on a greenhouse scale that really matters. During the four experiments, an average cycle time was recorded of 124 s per harvested cucumber. This included successful harvests attempts, failures as well as the motion of the robot along the path. The average execution time at each harvest position was 112 s. And the average execution time per cucumber present was 92 s.