Not sure if you can get your hands on an actual PPC machine for cheap, appropriate hardware is the best option. But if that is not an option for, and you need to run PPC code under Rosetta emulation, then try running an emulated PPC machine on your Intel Mac Pro using a Virtual Box.
You might be able to use VirtualBox and install Snow Leopard with Rosetta, just not sure if that will support your custom CNC software also. For some background ideas see this 2019 forum post:
https://apple.stackexchange.com/questions/373967/run-rosetta-on-macos-sierra
"You can try installing Snow Leopard (OS X 10.6.8) in VirtualBox. I was
able to do this using an iMac (21.5 inch, Mid 2011) with High Sierra
installed. I was able to install and use Adobe Create Suite 2 in a Snow
Leopard (OS X 10.6.8) virtual machine. Adobe Create Suite 2 requires
the installation and use of Rosetta."
I have no personal experience with that, but was thinking of other emulation options that might be helpful.
Pacifist is a mac OS X software tool that lets you install portions of the OS from a DVD media, I am not sure if you can find the Rosetta packages and perform an equivalent optional installation from the original media onto an Intel computer.
https://www.charlessoft.com/