This paper presents the results of an experimental program carried out with a model of a FPSO (Floating Production, Storage and Offloading) unit moored and subjected to incoming waves. In regular waves, a wide range of wavelengths were tested and the effect of the wave amplitude was also investigated. In irregular waves the model was subjected to different sea states, including very severe significant wave heights. The measured responses include the six degrees of freedom absolute motions, relative motions, and the mooring forces. The experimental data of surge, heave, and pitch is compared with calculated results from a Green’s function panel method and a strip theory program. In general, the agreement between experimental and numerical data is very good.