The WAAM additive manufacturing process is considered one of the most efficient and productive processes. Its implementation is based on the use of a Cold Metal Transfert (CMT) device by a robot. The geometrical quality and the mechanical behaviour of the manufactured parts depend on the uniformity of the material deposition rate and the uniformity of the energy input, throughout the realization of the part. This paper discusses the interactions between the CMT device and the robot during the manufacturing process. The reaction times between the two systems are not the same and depending on a specific parameterization, the real trajectory is disturbed by the start or stop of the electric arc. An experimental study on 8 trajectories and 3 parameters allows us to analyze the behavior of the robot, the accuracy of the trajectory and the acceleration and deceleration phases. As a general conclusion, compromises must be found in terms of continuous/discontinuous deposition and deposition outside the nominal deposition area or not. Based on the tests performed in this study, the semi-circular strategy appears to be the most relevant in the case of continuous deposition over the whole toolpath. Finally, a model has been proposed to compute the manufacturing time of any area of the layer based on a preliminary identification for a single area.Read less <