I'm assuming you want to get status into a PLC for connecting to a SCADA or HMI system, and leave the actual controls in place. When following the steps Doug outlined, you need to define which status signals are important to you. In general you can wire your PLC in parallel with the other controller's inputs without interfering with its operation. Watch your voltage levels, and make sure your PLC I/O common (- or neutral) is tied to the common for the existing controller.
For voltage analog signals you can also go in parallel without problems. For 4-20 mA analog inputs you can run the signal in series, but you should consider adding a signal isolator on each loop to avoid ground loops and excess load on the transmtters. I suggest using externally powered isolators, since the loop powered type usually create a higher load in the loop.
If you plan to put the PLC outputs in parallel and do actual control, the challenge gets much more significant. You will need switches or relays to determine which device is in charge, develop strategies for changing from one controller to the other, and get intimately familiar with the operation of the machine so you will provide equal or better control.