I need to simulate robotic cell where cartesian robot trims a PCB arriving on conveyor, picks it up with vacuum cup and and places in another device. After receiving signal from device the robot would pick it up and place on another belt. I want to make the cartesian robot myself using servomotors and control cell using a PLC. Would there be software that can simulate all this? I would also need to integrate sensors and possibly machine vision.
A simple PLC is not meant to control a robot. You will at least need OpenPLC Motion Control capabilities for the PLC to control motions. Or you can opt for a motion controller to have better control over the motions.
If you are thinking of writing PLC code, running on the PLC, and you want to see what happens to motors/drive amplifiers when they receive a certain output, and what happens in your cell, you could use a virtual commissioning tool for example. Those are meant to simulate the plant, connected to a real PLC, and the PLC "has no idea" that the connected systems are just simulated, not real.
Yes, this is possible to do. Check out some of these robotics simulators.