Thank you all very much for your time, problem is solved by application of DST and SRC nat rules as suggested by lurker888’s last post with modification from ether2 to bridge, plus enabling proxy-arp on bridge (ether2-5).
NodeRED running on desktop can access the PLC in Mikrotik Machine LAN, via 10.0.80.201 (NAT to 192.168.250.1).
NodeRED OMRON FINS settings need to be according to Machine LAN. Important part being DA1 = last octet of IP address of PLC (in this case .1, not .201) and SA1 = last octet of who is asking (here .51, since as far as PLC is concerned, packets come from Mikrotik directly)
{
"host": "10.0.80.201",
"port": 9600,
"protocol": "udp",
"DNA": 0,
"DA1": 1,
"DA2": 0,
"SNA": 0,
"SA1": 51,
"SA2": 0
}
After this, Read request from A642, length 2 (= read two analogue inputs of the PLC) works perfectly, as seen in bottom right of this image.

For OMRON PLC CP1L-E it is NOT possible to set a gateway. Now I do not need it anymore, but in case someone is searching for this, the OMRON suggested workaround is to use “IP router table” in Ethernet settings and add 0.0.0.0 → IP_OF_ROUTER/GATEWAY there.
I am happy here, since internal PLC settings stay at 192.168.250.1, but I am able to set CX-Programmer to talk to PLC at 10.0.80.201, so basic of networking are working at least. Not so lucky with some Chinese PLCs and HMIs which I sadly have in production too. But that is OK, since I can always use OVPN for programming needs.


My full router config attached:
[admin@RouterOS] > export
# 2025-04-19 17:23:37 by RouterOS 7.18.2
# software id = 1E6V-AUYV
#
# model = RB750Gr3
# serial number = ************
/interface bridge
add arp=proxy-arp name=bridge port-cost-mode=short
/interface list
add comment=defconf name=WAN
add comment=defconf name=LAN
/interface lte apn
set [ find default=yes ] ip-type=ipv4 use-network-apn=no
/ip pool
add name=ovpn-pool ranges=192.168.250.200-192.168.250.220
/ip smb users
set [ find default=yes ] disabled=yes
/ppp profile
add bridge=bridge dns-server=192.168.250.51 local-address=192.168.250.51 name=VPN-Profile remote-address=ovpn-pool use-encryption=yes
/routing bgp template
set default disabled=no output.network=bgp-networks
/routing ospf instance
add disabled=no name=default-v2
/routing ospf area
add disabled=yes instance=default-v2 name=backbone-v2
/interface bridge port
add bridge=bridge comment=defconf ingress-filtering=no interface=ether2 internal-path-cost=10 path-cost=10
add bridge=bridge comment=defconf ingress-filtering=no interface=ether3 internal-path-cost=10 path-cost=10
add bridge=bridge comment=defconf ingress-filtering=no interface=ether4 internal-path-cost=10 path-cost=10
add bridge=bridge comment=defconf ingress-filtering=no interface=ether5 internal-path-cost=10 path-cost=10
/ip firewall connection tracking
set enabled=yes udp-timeout=10s
/ip neighbor discovery-settings
set discover-interface-list=LAN
/ipv6 settings
set disable-ipv6=yes max-neighbor-entries=8192
/interface list member
add comment=defconf interface=bridge list=LAN
add comment=defconf interface=ether1 list=WAN
/interface ovpn-server server
add auth=sha1 certificate=server-cert cipher=aes256-cbc default-profile=VPN-Profile disabled=no mac-address=************ name=ovpn-server1 require-client-certificate=yes
/ip address
add address=192.168.250.51/24 interface=ether2 network=192.168.250.0
add address=10.0.80.200/24 interface=ether1 network=10.0.80.0
add address=10.0.80.201 interface=ether1 network=10.0.80.201
add address=10.0.80.202 interface=ether1 network=10.0.80.202
add address=10.0.80.203 interface=ether1 network=10.0.80.203
/ip dhcp-server
add address-pool=ovpn-pool interface=bridge lease-time=10m name=defconf
/ip dns
set allow-remote-requests=yes
/ip dns static
add address=192.168.250.51 comment=defconf name=router.lan type=A
/ip firewall filter
add action=accept chain=input disabled=yes
add action=accept chain=forward disabled=yes
add action=accept chain=input dst-port=1194 protocol=udp
add action=accept chain=input dst-port=1194 log=yes protocol=tcp
add action=accept chain=input comment="defconf: accept established,related,untracked" connection-state=established,related,untracked
add action=drop chain=input comment="defconf: drop invalid" connection-state=invalid
add action=accept chain=input comment="defconf: accept ICMP" log-prefix=icmp protocol=icmp
add action=accept chain=input comment="defconf: accept to local loopback (for CAPsMAN)" dst-address=127.0.0.1
add action=drop chain=input comment="defconf: drop all not coming from LAN" disabled=yes in-interface-list=!LAN
add action=accept chain=forward comment="defconf: accept in ipsec policy" ipsec-policy=in,ipsec
add action=accept chain=forward comment="defconf: accept out ipsec policy" ipsec-policy=out,ipsec
add action=fasttrack-connection chain=forward comment="defconf: fasttrack" connection-state=established,related hw-offload=yes
add action=accept chain=forward comment="defconf: accept established,related, untracked" connection-state=established,related,untracked
add action=drop chain=forward comment="defconf: drop invalid" connection-state=invalid
add action=drop chain=forward comment="defconf: drop all from WAN not DSTNATed" connection-nat-state=!dstnat connection-state=new in-interface-list=WAN
/ip firewall nat
add action=dst-nat chain=dstnat dst-address=10.0.80.201 to-addresses=192.168.250.1
add action=dst-nat chain=dstnat dst-address=10.0.80.202 to-addresses=192.168.250.100
add action=dst-nat chain=dstnat dst-address=10.0.80.203 to-addresses=192.168.250.99
add action=src-nat chain=srcnat out-interface=bridge to-addresses=192.168.250.51
/ip ipsec profile
set [ find default=yes ] dpd-interval=2m dpd-maximum-failures=5
/ip route
add disabled=no dst-address=0.0.0.0/0 gateway=10.0.80.1
/ip smb shares
set [ find default=yes ] directory=/flash/pub
/ppp secret
add name=maintenance profile=VPN-Profile service=ovpn
/routing bfd configuration
add disabled=no interfaces=all min-rx=200ms min-tx=200ms multiplier=5
/system clock
set time-zone-name=Europe/Belgrade
/system identity
set name=RouterOS
/system note
set show-at-login=no
/tool mac-server
set allowed-interface-list=LAN
/tool mac-server mac-winbox
set allowed-interface-list=LAN