In this paper the main task is to write a program solution that will use G code to operate an older cartesian coordinate robot. The robot itself is controlled by a programmable logic controller (or PLC for short) manufactured by the company Delta. In the beginning of the paper we will introduce the basic concepts that relate to this theme: robots, PLCs, G code and Industry 4.0. We'll take a look at the cartesian coordinate robot, explain the configuration, it's benefits and downsides and lastly where this configuration is commonly used. The robot is located in the Laboratory for the design of manufacturing and assembly systems, with it being used in industries and later for educational purposes. After this we're going to talk about the PLC used to control the robot and the softver we use to achieve that. Using the CANopen Builder softver used for programming and controlling PLCs, using one of it's methods, the ladder diagram, to create a program to control the robot and using it's other feature, the CNC program editor, to make a G code program and a path which the robot will follow. In the last two chapters you will see a detailed description of the program and the function blocks that it uses, as well as a G code program created and how the program functions.