Orccad model has been designed to structure robot architecture according to two aspects : continuous time aspects, related to control laws, carefully merged with discrete-time aspects related to control switches and exception handling. CAD tools have been provided to help the users along the steps of the design, verification, implementation and exploitation processes. In this paper, we present how Eclipse Modeling tools are adapted to provide a complete CASE robotics tool-set to support this model from design to code generation. This approach allows to focus on the model rather than the infrastructure.