Recording always happens before animation.
Generally, performers can record a half-hour episode in half a day. The purpose of the boards, as in live action, is to show how the story will unfold visually. In animation, though, storyboards are followed much more closely, because there is so little room for excess footage. Painting is still done largely by hand, though computer programs now make it possible to do the work digitally. The drawings are then photographed and edited into a work print.