There is no straight forward way to do it. Technically it is feasible as long as the embedded system you mentioned has access to the compiled code and know how to intepret the codes and initiate a serial transfer to the PLC. However, unless it is a large OEM application it will not be worth the cost and effort to customize such a procedure.
If you have an OEM appication that could be using 100s of such setup, you can email to support@tri-plc.com to inquire what needs to be done and the cost of implementation.