AT&T's FWS-200 (Flexible Work Station) has been modeled and simulated to implement Off-Line Programming (OLP). IGRIP (Interactive Graphics Robot Instruction Program) from Deneb Robotics, Inc. has been used to simulate the FWS operation. A GSL(Graphics Simulation Language) program has been used to simulate the chip placements during PCB assembly. The program leads the user through the motions of chip placement, and after the simulation run downloads the motion sequence to the FWS. The animation sequences of the FWS have been downloaded to the FWS on the Factory Floor using a C program, which is utilized to communicate the data to an M²L program on the FWS. An awk program is used to take care of the handshake protocol between the Silicon Graphics workstation running IGRIP and the 80386 PC running M²L. The use of simulation has been observed to help the user in visualizing the sequence of chip placement. OLP offers a naive user the option of running the FWS without learning M²L, and an experienced user significant savings in programming time and a testbed for optimization.