I am building a couple of Abrasive waterjets one of which will be 5 axis omni head.

I am going to use a Pick n Place overhead gantry robot for the motion and I am looking for information on a cutting head configuration allowing the two axis omni head. I have seen a few web sites that have achieved this, but still a bit confused on how they have done it with the hard piping, dump valve and feed for the abrasive.

Also, is there any 5 axis pc base software to control waterjets?