vanevery previously mentioned CENIT. There are now two versions, one based in Catia/Delmia V5, and another new stand-alone software they are calling Edition 2 (E2), with no CAD or tool path software pre-requisites. Works with every robot and NC machine:
Take a look at CENIT products. They operate on top of Delmia and are quite powerful.
http://www.cenit.com/en_EN/plm/digi…ite-for-v5.html
There is also a new product being introduced in 2016.