To monitor current position:
Set $SCR_GRP[1].$M_POS_ENB to true
Then for current joint angles you can monitor
$SCR_GRP[1].$MCH_ANG[0 to 6]
And for current Cartesian position relative to active Frames you can monitor:
$SCR_GRP[1].$MCH_POS_X (and y,z,w,p,r)
To monitor current TCP speed:
Set $SCR_GRP[1].$M_DST_ENB to true
and monitor $SCR_GRP[1].$MCH_SPD
To send position to the PLC you can create a BGlogic program to copy the current position values from the system variables into registers. Then in your PLC program create the logic to read those register values periodically.