Temporal flexible planning enables Collaborative Robots to autonomously operate understanding the environment, dynamically planning their tasks and acting to achieve some given goals. The introduction of tools to facilitate the integration of Planning and Robotics is crucial but entails different kind of expertise to address a wide variety of control issues and the design of integrated solutions. Namely, Domain experts, Planning specialists and Roboticists are to configure a set of proper control solutions to enable an effective and safe production. This paper presents a novel software tool, called TENANT (Tool fostEriNg Ai plaNning in roboTics), that facilitates domain experts in defining goals, tasks and a set operational constraints enabling the automatic generation of planning models for robot control. TENANT is validated in an industrial collaborative scenario derived from a EU-funded research project demonstrating its effectiveness in generating automated planning models to control a collaborative robot.