[Alan Anderson]

The first time you Run Robot Main, the computer does a bunch of checking and sends every vi to the cRIO to be run in memory. This takes a long time. As long as you don't shut off the robot or otherwise disconnect LabVIEW from it, the next time you Run Robot Main it only sends a vi if it has changed. This takes much, much less time.

If it's taking a long time to Run when you do it again, you're probably doing something to lose the LabVIEW connection. You should just click the big Finish button on the Robot Main vi when you want to start making changes to the code. The development cycle is quick, once you've sat through getting it started the first time.