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CNC machines are usually used for moving a tool using multiple axes in a coordinated way. If you want to do the same with a PLC, the program gets very complicated and that's why it does not make sense to use a PLC instead of a CNC machine. PLCs are usually used BEHIND the CNC for controlling more PLC like functions for the machine such as hydraulics, clamps,...


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You need inverse kinematics. Which refers to calculating the joint angles so that the robot will reach a particular pose. You can not simply move from point A to point B.. You will need to use inverse kinematics to calculate all the positions the arm will pass thru to form a straight line.


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