When creating a kinematic mechanism (for example, robot rail, lift assistor, etc.) in the DELMIA Equipment Design ap, it is recommended to wait until the very last step to convert it to a Programmable Mechanical Resource.  The reason why... once you define your Assembly as a Mechanical Resource, then there is no undo back to an Assembly.

If you decide that you want to drive your Tool Equipment as an inverse kinematic mechanism, then now in R2025x FD04, you have the capability to convert a Tool Equipment to Robot Resource.

This can be achieved using the DELMIA Equipment Design app | Resource Creation section | Generate Resource From command.  After converting your Tool Equipment as a Robot, then you will be able to define  and drive the Robot as an inverse kinematic mechanism.