If the process is to be exactly the same all the time, then CNC so to speak may not be the answer. You could use a PLC and normal motors that are just on and off devices.
You could fit either limit switches or beam break switches to the different parts of the machine. You can then program the machine to do whatever function you like once it hits each limit/beam switch.
This method would eliminate the need for a computer to drive it, and also expensive software,steppers,driver cards,etc.
While I have never used a PLC b4 I know what they can do and it sounds like this is more what you need.
EDIT: A Plc is basically a computer with lots of inputs to fit sensors to. Like switches etc. And then it has lots of output relays or electronic switches. You program it to turn on and off swithches when its sensor switches are activated. Does that make sence?
Have a read of this, and tell us if this is more what you need
http://www.plcs.net/chapters/whatis1.htm
You mentioned less than a 1000 bucks. Well here is a PLC for 50 US bucks that has 6 inputs and 6 outputs. Possibly you will need more than 6 inputs, but this will give you an idea
http://cgi.ebay.com/ws/eBayISAPI.dll...874231929&rd=1
You could use windscreen wiper motors from a car for your drives. You could build a machine for next to nothing. Just so long as it is the same routine all the time.