First you have to export the points from your cad system in AutoCad file then convert that file into .co file.
After that you will be able to import it.
Simply do one thing, if you have co-ordinates of weld points then make .pt file and then import.
POINT Name X Y Z
Make it in notepad, save it, change extension to .pt & then Import.
@ export - No option
Another way is to write all the point information (name, x, y, z) in a robface file (*.rf) and import that file.
The advantage from this approach is that you have the point cloud in a component.