Yes and depends.
ATV71 has Modbus RTU, standardly implemented, and has lot of additional optional communication cards. AC800M has many options for communication also. You need to know, what you have.
ATV71 requires state machine, so you will need little bit of programming, not just simple ON/OFF commands.
thanks, i just want to get the the value of current,speed and torque from vfd to plc.
should i need to use gateway for this? ac800m supports also modbus rtu.