How i can do a robot read  g-code ? Example: If i already have a g-code of the 3d printer, has a type of I send this g-code for the robot can execute the moviments of printing ?

@Sebastien  I looked that post, but there just show how i can generate the process of simulation of the robot,  i need to know how i can input the g-code in the software and creat the language to robot simulation. Can you understood me ?

@Pablo
do you have documentation about your G-Code that you are trying to translate. Basically a documentation that would allow us to understand what is the structure of the G-Code. Once we have that, we can look at how you could translate!
You could also load the G-Code here with comments on each line!

@matthewd92  I saw something about RobotMaster. To speak the truf, this software was my first option, but he's a sotware that I have to pay to have to me, and as I'm only a student from Brazil, I don't have money or contact for have the RobotMaster. I am right or I can have this software free?

@Pablo you may want to check with robotmaster, they may offer a free or deeply discounted version to students, a lot of engineering software does. 

Looking at your GCode what do you plan to do with the extrusion component "E" with the robot?  You could write a simple script converter I'm sure that could convert G1 to a movel using the F as your velocity, you'd need to convert that to something the robot is capable of performing. 

So what you could do is to use these commands and parse the file to move the XYZ into a servoj command which can be fed to a UR robot at 125 Hz.  You would need to do something like this:

servoj(get_inverse_kin(pose_trans(TOOL, p[X,Y,Z,0,0,0])),t=.008).  (Check the URScript manual to verify that all the syntax is correct)

You would need to write a translation program to get all of this out of the G-Code file.

Good Luck!