We just had Rockwell in here on their Emulate3D software. I was looking around to see if there was an alternative that was more native to Solidworks and did not find much.

For the most part the software is Solidworks motion simulation with the ability to control the motions via a PLC. It would save a ton of time and guarantee that changes to the assembly do not blow up the simulation if this was a native SW application. That's to say nothing of the rather hefty 30K price tag...plus 10% annual maintenance.