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Hi Ros - I see that your question has been posted for awhile without answer. Using older equipment for milling can be a challenge depending upon the performance tolerance you're trying to achieve. Perhaps if you clarify the type of tolerance you'd like to get you'll get more feedback. Old robot to us sounds like a tolerance problem waiting to happen. KMT does have a software product that we call CAMpro that allows users to create tool paths in CAM and then translate those tool paths to run on FANUC or ABB robots. But we only have worked with more recent robot controller models and robot arms that haven't been used for already for a long period of time.