To solve the problem of an excessive number of component vulnerabilities and limited defense resources in industrial cyber physical systems, a method for analyzing security critical components of system is proposed. Firstly, the components and vulnerability information in the system are modeled based on SysML block definition diagram. Secondly, as SysML block definition diagram is challenging to support direct analysis, a block security dependency graph model is proposed. On this basis, the transformation rules from SysML block definition graph to block security dependency graph are established according to the structure of block definition graph and its vulnerability information. Then, the calculation method of component security importance is proposed, and a security critical component analysis tool is designed and implemented. Finally, an example of a Drone system is given to illustrate the effectiveness of the proposed method. The application of this method can provide theoretical and technical support for selecting key defense components in the industrial cyber physical system.