Nowadays, the use of the robots in industry is becoming more common. The advantages of
robots are speed, precision and reliability, but operating with them requires skilled workers
and suitable software. In order to achieve the optimal production rate, we must make a
quality time analysis of robot cycles as well as the entire robot cell or line. However, this
cannot be done without a previously performed simulation of the process. In this work, we
create program in the Visual Components software which we then upload on Motoman HP20
robot controller. Cycle time comparison between the robot in simulation and the real robot
showed us that the cycle times of the real robot are always longer that the simulated cycles.
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