Single Axis Robot control program

Need to program a single axis robotic controller. Can use Emerson Epsilon EP-P or Rockwell Automation Kinetix controller. Finished product is Windows based user interface, Password protected customer setup screen and password protected manufacturer configuration screen. Need to get position data back to an existing (currently Delphi based) database to interface with instrument measurement data. Input from programmer as to which platform to use (or flexibility to use both) would be appreciated. Follow-on programming tasks will follow after initial prototype in place.