Hi and welcome,
this stuff is really not self-explanatory and can’t be explained with a few sentences either.
Various trainings exist for that, starting with single axis control (SEM415). This is assuming you already know the basics, so about AS and AR. (SEM210, maybe SEM251 doesn’t hurt)
You can try to read various topics in the automation help by yourself but I doubt this brings you to anything close to a working CNC machine, tbh.
These trainings can be (not promised) exist in both, presence seminars and remote lectures, though I think CNC is not really a “standard” case and thus maybe has to be requested explicitly (I only have found the training manual for it, not an explicit training to attend)
For the seminars see Seminars | B&R Industrial Automation
For dates see https://www.br-automation.com/en/academy/dates-and-registration/#country=de (filtered for germany since that’s where you are from according to your profile)
Various topics in the help for your usecases which also have a few “Getting started” topics each:
mappAxis - to help you insert your axis and test it without CNC
mappCNC - for the CNC parts
I hope this not so helpful “do a, then b, then c” answer is of use to you anyway
Best regards
Michae