Hello,
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Based on the above query you require connectivity from PC to the PLC (Basically LAN to LAN connectivity), its not possible by standard methods. In your scenario and based on previous experience there is 2 ways.
If you will only have a point to point connection (Not adding other L2TP networks) you can either enable default route in the L2TP Client (Which the PC is connected) or enable a static route from the RUT241-1 to RUT241-2.
If you scale the connections in the future, the PC will be connected to the L2TP Server router and static routes have to be configured to the respective L2TP Clients.
If you dont want to configure static routes you can find other ways like dynamic routing (more complicated) or even use a VPN method that supports LAN to LAN connectivity like IPSEC or DMVPN.