So to repeat - perhaps more concisely - what has been said so often, you specify how many motors you require, what position encoders will be used with them, what motor drivers you will be using, exactly what functions the robot will be performing in what industry, and give the actual specifications via Web links of each part.
It will be simpler to explain why this approach would be in some curious manner preferable to using a standard robot already designed for the purpose. I gather that these are generally operated not by a PLC but by something resembling a PC, running a suitable operating system.