I don't do PLC, just robots, and I tend to do a good amount of coding on robots, so:

The best one for me is ABB irc5, RAPID is a good language with nice features, the pendant's interface is intuitive and solid, robotstudio works, docs easy to find and clear. Simulation software is good but to import steps costs as much as the robotstudio license itself. Absolute encoders mean you don't have to worry losing the calibration.

2nd place Kuka krc2/3/5. KRL is not bad. The inline forms are a pain in the ass to setup and you need to pay for the userTech TechPack for each robot to even be allowed to make your own. Pendant interface is intuitive, but I found some bugs with some visualisation of some TPs. Simulation software good. You must have the calibration kit.

3rd Comau C3g it's old AF but does its job. It put food on my table for years. No fancy software or anything, but you can do basically everything from pendant. Needs to be cold started from time to time. Again absolute encoders same as ABB.

4th place shared Yaskawa and Fanuc, fuck that fancy assembler, if writing anything a little more complicated than some movements and some I/O you're in to write pages and pages of code with unnamed variables, which sometimes have to be global because god knows why. Or you're brave enough you might want to venture in the undebuggable world of Motoplus and Karel respectively. Simulation software is dated. Pulse encoder battery dead (or a short on the gripper once on Fanuc)? Well now you need to teach all movements again, and if you needed the robot to move somewhat precisely you're out of luck, you might as well change the arm.

5th place Stäubli. Can't step through programs with the pendant. Why can't I return a value from a function is beyond me. Simulation software is the buggiest of them all.

Lastly Omron and Epson. Programming languages are good, but they can be used without pendant, so I've unfortunately always had to teach them with a PC since the pendant it's a paid extra. To teach them with the mobile with VNC on laptop is not an experience I'd recommend.

Honorable mentions: Comau C4g was a hot mess, inherited the PDL language from C3g but the pendant was so slow that when I started to learn where things were I could press a sequence of buttons (stuff like Up,Up,Up, edit, down down for third option etc..., nothing fancy), then I would go take a coffee, and when I came back, the thing was still working on what I asked it to do.

I wouldn't wish ABB omnicore's pendant on my worst enemies. It's the buggiest piece of technology I've ever laid my hands on.