Answered Simulations of FANUC in CATIA version 5 DMU kinematics

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Hey friends

I am searching for the answer for my FANUC robot simulation in CATIA v5 DMU Kinematics/NC machine tool builder. I am also searching for the way to implement FANUC S420iF inside of Catica version 5 DMU kinematic. However at the moment i am not working well in the assembly however i am in search of using it in the same way like CNC machine but i got abundant problems in the definition of Cartesian axis.

Can someone please help me out and send any robot configuration to see the joints settings.

Thanks in advance