How to control a robotic arm

Hello,

I apologize if this is not the correct forum to post my question but I tought it was appropriate.

I would want to control an ABB IRB 120 robotic arm with NX. I have the assembly of the arm and a post processor for an IRB 140 robotic arm.

I just want to do some basic movement with the arm, write RAPID code that I can use with my robot and implement some basic intelligence in it (event based action).

I have 2 questions. The first is : I found that I can control the arm with the CAM module and with the mechatronic concept designer module. Which one should I use ? Where can i find some documentations?

The second is : How can I modify the IRB 140 post processor in order to match my IRB 120 arm ?

TLR I have a robotic arm, with wich module do I control it ? Where can i find documentations for said module. Can I adapt an existing post processor to match my robotic arm ? How ?

Thanks