Siemens have something for KUKA robots and B&R for ABB.
I have only seen sales presentation, but it should work in way, that you teach positions and write logic directly in PLC. Not sure if it send data directly to servo, or if there is program running on robot.
And I also have seen Siemens + Yaskawa (custom programmed), where on robot side there was program running in loop and asking PLC for next position, which were stored in PLC, also with logic.
Thank you, I will look into Siemens. How about Schneider or Rockwell?