@BenjaminK,
We don't have any specific program to generate G-code. If the goal is to synchronize some external device to NC program, I/O are normally used. You can use M commands in the CNC language to accomplish this. Look at this post for an example.
A client seems to use gripper with robot in CNC milling machine so that he asked me some questions like below.
1. He wants to obtain G-code for CNC milling, is it possible to generate G-code by certain your own program?
2. Similarly, he wants to convert some outputs made by gripper into configuration data like CATIA CAM or Rhino Plug-in for using in NC programming, please advise me any way how we can obtain it.