This paper presents a simulation based test method for functional and performance evaluation of robotic components and modules. In the proposed test method, function test procedure consists of unit, state, and interface tests which assess if the functional specifications of robot component 1 or module 2 are met. As for performance test, simulation environment provides a down scaled virtual work space for performance test of robot module accommodating virtual devices in conformity with the detailed performance specifications of real robot components. The proposed method can be used for verification of reliability of robot modules and components which prevents faults of them before their usage in real applications. In addition, the developed test system can be extended to support various test conditions implying possible cost saving for additional tests.