public sealed class RsToolData : RsDataDeclaration

Project.UndoContext.BeginUndoStep("RsToolDataExample");
try
{
    Station station = Station.ActiveStation;

    // Create a gripper tool using sample data from the RAPID manual.
    RsToolData myTool = new RsToolData();

    // Get a valid RAPID name and assign it.
    myTool.Name = station.ActiveTask.GetValidRapidName("gripper", "_", 1);

    // The robot is holding the tool.
    myTool.RobotHold = true;

    // Set the TCP, expressed in the wrist coordinate system.
    myTool.Frame.X = 0.0974;
    myTool.Frame.Y = 0;
    myTool.Frame.Z = 0.2231;
    myTool.Frame.RX = Globals.DegToRad(45);
    myTool.Frame.RY = 0;
    myTool.Frame.RZ = Globals.DegToRad(45);

    // Create the load data for the tool.
    RsLoadData myloadData = new RsLoadData();

    // Set mass.
    myloadData.Mass = 5;

    // Set center of gravity.
    myloadData.Cog = new Vector3(0.023, 0, 0.075);

    // Set the axis of moment.
    myloadData.Aom = new Quaternion(1, 0, 0, 0);

    // The load can be considered a point mass in this example, i.e. without any moment of inertia.
    myloadData.Inertia = new Vector3(0, 0, 0);

    // Att the load data to the tool.
    myTool.LoadData = myloadData;

    // Show the name of the tool data in the graphics.
    myTool.ShowName = true;

    // Set the frame size to twice its default size.
    myTool.FrameSize = myTool.FrameSize * 2;

    // Show the tool data in the graphics.
    myTool.Visible = true;

    // Add the tool data to the ActiveTask.
    station.ActiveTask.DataDeclarations.Add(myTool);
}
catch
{
    Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
    throw;
}
finally
{
    Project.UndoContext.EndUndoStep();
}