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you can use grabcad to find TOOL (GUN, GRIPPER Robot ...) ( E' T( E% S3 q4 Q# O
And Crossmanager to convert CAO files (STEP or others) to jt files 3 J/ K+ h( c. ]Then import to PDPS and use Modeling to built the tool ( base frame TCP and Tool définition)! g( J `1 z3 m& C* b" c