Robots are not generally programmed by G code but taught by the teach unit. As far as moves are concerned there are typically 2 types similar to G0 & G1.
The first type is all axis would move to position in the fastest way to get to the program end point and the second all axis move at a controlled rate in order for them to arrive at the programed end point simultaneously.
Does the unit come with controller? You should be able to get the documention from Fanuc but it is not cheap.
As far as retro-fitting is concerned, you would run in to a problem right away of not being able to use the proprietary motors & drives that Fanuc has, although I think Delta-Tau system will interface to them, but its not cheap.
I have experience with a few makes of robots, but unfortunately very little to none with the Fanuc type.
Al
CNC, Mechatronics Integration and Custom Machine Design
“Logic will get you from A to B. Imagination will take you everywhere.”
Albert E.