That’s effectively what’s done for some machines, but the problem then is that the system has no way to properly respect travel speeds. What might be a valid linear speed for the Y axis when not connected to a rotary could exceed the limits of a rotary, or the opposite could be true and the controller could limit the rotational rate, thinking that the axis was traveling too fast - it affects how the controller ramps power, takes corners, and so on.
So, yes it can be done, and it’s probably fine for scanned graphics, but vector marking would be a crap shoot as to whether it would behave well or not.