Nowadays the assembly machines are widely used in the industries, since they reduce the production time and human error, while increase the accuracy and repeatability. The objective of this thesis is the analysis and development of the last part of a semi-automatic assembly line, that assembles and then tests two different camshaft phaser (intake and exhaust) for automotive applications. The line was completely designed and built by OTS Assembly, which is a company that deals, precisely, with the construction of prototypes of assembly machines. The main purpose is to program, and subsequently control, all the devices present in the unit, such as robots, drives, measurement instruments, sensors, actuators and so on, so that it is possible to create operating cycles of the stations that have to process the pieces.