B&R Automation?
What about B&R Automation? They have everything (logic, comms, motion, safety, etc etc) all under a single software package, with no yearly dues or anything, and they let you do pretty much whatever you want. Safety PLCs and safety IO can be intermixed with all the regular stuff no problem, and you can have pretty much as many task classes with different priorities as you want. They don't limit you, and it doesn't cost an arm and a leg either....
So, me being rather new to the automation industry, I gotta ask: why does everybody pay more for less with AB and Siemens?