What software is used for CNC design?

Question

Software and Internet Services

Hello. Can you please tell me if there is software for designing and programming complex controlled mechanics, such as CNC machines?
There are enough CAD systems for designing machines, assemblies and parts, there are even the beginnings of more complex dynamic interactions than just bolting, but I did not find any interactions with written programs.
I drew a manipulator, and I want to check how my program will work with it, on collisions and so on. Of course, I understand that it is unlikely that one of them eats the control program for the controller, but nevertheless, the algorithms can be written in a language that is more understandable for the cad system.