The answer to this question is entirely dependent on the result of an serious engineering study to determine the risk "Category" of your application.
The study will consider:
1. What might be the damage or harm caused by a system failure or accident?
2. How often is a failure or accident likely to happen?
3. What is the duration of the risk, and how long are operators exposed to harm?
There is a formal system for analysing these answers and then determining if the application is "Category 1, 2, 3 or 4".
If the answer is Cat. 1 or 2 then a PLC system will be usually acceptable.
If the application is Cat 3 or 4 then usually a specific Safety PLC design will be required.
Cat 1 systems can be handled more or less with normal good PLC system design. As the risk increases then then more redundancy and cross-checking is introduced into the design for Cat 2.
Cat 3 design usually demands (but not always) redundancy and cross-checking within the PLC itself. The best way to do this is to use a specific Safety PLC. The system I am most familiar with is
Pilz Safety Automation
Cat 4 systems build on the Safety PLC concept and include fully I/O redundancy, certified components and design at every step.
Rockwell Automation also have a "Guardmaster" Safety PLC. The following is a
GuardMaster Reference