There are several ways:
Analog or ISDN modem + Teleservice. Low speed. Expensive for overseas connections.
VPN is possible, but requires that your IT department and customers IT department arrange the VPN connection from one site to the other. Not possible in many cases.
This is interesting:
http://www.****.biz/Pres2005CD.htm
The big trick is this: The customer 'merely' has to supply an Internet connection that gives access to the www. You do not need to access his LAN otherwise. This is much more acceptable to a customer.
What happens is this: The router accesses a site called talkt2M. When you want to access the customers PLC from your own company, you also connect to the talk2M site. On the talk2M site, the two clients are connected together, and you are online on the remote LAN. Like VPN without VPN.
edit: If your PLC does not have ethernet, then they also have a version with MPI port.