You can connect any PLC to any VFD using hardwired I/O. Usually you need:
Dry contacts from Discrete Outputs on the PLC to the VFD for start, run enable (E-Stop or external fault) and sometimes Forward and Reverse
Inputs to the PLC from transistor or dry contacts on the VFD to indicate Run status and Fault status of the drive, and sometimes Forward and Reverse
Analog output from the VFD, 4- 20 mA or 0-10 VDC as a speed command to the VFD
Analog inputs to the PLC from the VFD to indciate actual speed and sometimes motor power or amps