Joe, Thanks for the story! It's nice to know someone else has gone out on a limb and has been successful. I at least know logic, and have programmed using boolean symbols, logic gates etc. So I was sure I could do this, it's just a matter of learning RLL.
I don't know if any of you have ever worked with Mitsubishi Alpha PLC's. They're for smaller applications, but they're so simple to program. they have many of the features of the larger PLC's, just not as many I/O's (I think 15 inputs/13 outputs max) The I/O's can be either digital or analog, you don't need special modules. It's pretty much free form, no ladders, you just drag and drop the gates, timers, etc. anywhere you want on the page and draw lines between them. You can also do FBD's. I like them because you can see everything work without having to scroll through pages of ladders, and it has a good simulator. The only problem is you can't do HMI with it. RLL seems a little more cumbersome to me, but I'm sure it's just a matter of getting used to it.