Additive Manufacturing Software for AR4

Hello! Does anyone know if it would be possible and if so, where I could find software to control the AR4 for additive manufacturing? The goal is to be able to upload a 3d model and be able to print it using this 6 axis arm.

Also, what is the payload capacity of this arm in the aluminum version? What are some ways I could increase the payload capacity?

Thanks for your help.