Hi , H2 R4 n+ b5 i, ~, A1 N- vyou can use grabcad to find TOOL (GUN, GRIPPER Robot ...) $ _4 c, r& s2 J- z0 C8 Q2 [8 p3 Q# LAnd Crossmanager to convert CAO files (STEP or others) to jt files 7 {6 y7 j7 m- w- d# H( f- _. NThen import to PDPS and use Modeling to built the tool ( base frame TCP and Tool définition) 2 A0 g/ d, o2 g% b2 b5 w 1 r) {; |% J. {0 I6 C: bGood Luck