Need a HELP on G-Code

Hi,
Currently I'm working on a 6 Axis robotic arm (I've attached some photos of my design below)& I'm having a little trouble while teaching the G-Code.
right now I'm able to record axis values to a text file,my problem is how to convert those axis values to G-Code.
Ive tried creating the G-code manually by typing those values to a example g code file,
then the robot moves in a awkward manner..
Q1) can i create the G-code from those X,Y,Z,A,B,C motor position values?How?
Q2) also how to move a imported G-code ,to the working space of the robot arm?

There is a python script called teach-in, I think it can record the moves but I've never used it.

JT