Asuming you want to use a PLC to control the forward and reverse operation of the motor:
1. Configure the drive to get its forward and reverse commands from the signals at the terminals instead of from the HIM.
2. Wire common terminal of a pair of contact outputs from your PLC to the input common on the drive.
3. Connect one of the contact outputs to the FWD terminal.
4. Connect the other contact output to the REV terminal.
5. Write ladder logic to turn on the contact outputs connected to the FWD and REV terminals at the appropriate times.