If you have a CNC, the best way to "figure it out" would be to just start using it as a plain user. Within a short time you will intuitively understand how it works. It is a fairly simple machine with a lot of simple parts that, in the beginning, create an impression of being complicated.
If you don't yet have one, but your main goal is to learn, you could buy some cheap DIY kit and build one. You'll learn a lot from it, and it won't cost you a lot of time and money. Small ones have all the same components as big ones, and the big ones work the same way as small ones, it's just the size.
If you could use one in your work, and you can afford it, just buy the right thing, it'll pay for itself.
Few weeks ago I got myself ShopSabre 23. I actually need a big one (5'x10'), but it can't fit in my current shop, and I can't move the shop now, so that'll wait for another 18 months. In the meantime I got this small one to make myself familiar with the machine and some software packages I intend to use, and to drill system holes for hardware and construction holes for stretchers and nailers, which would otherwise complicate things and jigs on the construction boring machine. And, of course, for other fun stuff not related to work.
Once I got the big one, I'll find some other use for this one, or my kids will get lucky, so it's a win-win.
The monthly payment for the financing of this machine costs me about 1.5 base cabinets, or 2 wall cabinets and it takes me alone about 1 hour to build those.
Some high-end "industrial" machines can have expensive maintenance, service and support, but if you do not need all the bells and whistles and software those come with, you may enjoy some of our locally made machines, with free support and online communities where you can go for help when needed.