A control system coupled to a drilling rig during drilling of a wellbore, may receive drilling information such as rate of penetration (ROP), differential pressure, and weight-on-bit (WOB). The system may determine a Total Cumulative Twist (TCT) value for rotating a bottom hole assembly (BHA) off a bottom of the wellbore based on the drilling information. The system may determine a vertical time that measure a duration of time required for the ROP change to fully arrive at the BHA based at least in part on the TCT value. The system may then generate one or more block speed changes based at least in part on the vertical time and send one or more control signals to one or more control systems coupled to the drilling rig to implement and drill in accordance with the one or more block speed changes.