We are using FP Sigma and FPx PLC. To program them I am using FPWIN Pro software. We are also using GT30 HMI. Both, PLC and HMI are relatively easy to use. We are using these in simple applications (no networking). PLC are very capable. I am so surprized how much it can do at such small phisical size. Manuals for both are not the best, probably, because of translation from Japanise language. It took me some time to find my way around. Technical support is always very helpfull.
If you have any particular questions, I might be able to help.
PaulB.