Cad2Motion is a free package that you can download and evaluate as you wish. It comes with a Windows Help (chm) file. I suggest you install it and take a look. It can import a 2D dxf and convert it to a motion path. The assumption is that the original drawing does have the line vectors in a sensible order so that they can be executed as motion.
Cad2Motion comes with a .chm Windows help file that describes most of the functionality. There is no manual at present.