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you can use grabcad to find TOOL (GUN, GRIPPER Robot ...) : Q: R+ r* c. {+ F: o$ J4 i% }And Crossmanager to convert CAO files (STEP or others) to jt files ( x4 x# i: s2 B' V* }/ {Then import to PDPS and use Modeling to built the tool ( base frame TCP and Tool définition) " c+ a; d8 W) S , \$ U( ?3 e% a* ?Good Luck