Method for building tyres

A method for building tyres is described. An elementary semifinished product is deposited on a building drum rotated by an output end effector of a robotized arm in form of coils forming a component of a tyre. A processor determines a target rotation speed of the building drum and a target value for a speed parameter associated with the rotation. If the target value is not an integer number, the processor: i) determines a drive interval shorter than the effector settling time; ii) calculates first and second values corresponding to integer numbers immediately preceding and immediately following the target value; iii) calculates a speed parameter PWM profile with minimum and maximum values corresponding to the first and second values; and iv) controls the effector according to the PWM profile.