Yea, you can do the model of DL06 that Brett said, its advantage is on the output side is since it is relays, you dont have to worry about sinking/sourcing concepts.
your gonna drop some cash, the PLC is (with relay outs), about 220.00, if your doing a standard rotary axis then +1 CTRIO module (200.00), if your doing rotary PLUS a swap arm (you have a choice, of servo control or motor control with Encouder reads vs prox positioning), if you run another servo/stepper then you will need another CTRIO module 200.00. also you will have the cost of a 24v power supply, a Power supply for what ever drives you choose, and cost of motor types........
You can QUIVKLY get into the 1,500.00 dollar price range for a 2 servo, swap arm read a head ATC.
If your doing just straight rotary, then your probably looking at about 1000.00 bucks, and that is JUST for the main electrical/electronic components. Not including cost of supplies, Enclosure, mechanical components, design time, debugging, programming..............etc.
scott