20-COMM-C modules are compatible only with ControlNet Phase 1.5 controllers and network modules.
PLC-5/40C = 1785-L40C = ControlNet Phase 1.25
PLC-5/40C15 = 1785-L40C15 = ControlNet Phase 1.5
Solar Turbines was one of the major users of ControlNet Phase 1.25 controllers, in particular the 1785-L40C controller, when ControlNet was introduced in the late 1990s.
Some of those controllers have been upgraded to "Phase 1.5" firmware, but most have not, which means that only ControlNet Phase 1.25 network devices (1794-ACN, 1771-ACN) can be used with the older controllers. All PLC-5C controllers and all 1771-ACN adapters can be upgraded, but some older 1794-ACN adapters cannot. As far as I know, only Solar Turbines is offering these upgrade services for equipment they provided. As far as I know, Rockwell Automation will not modify or upgrade a Solar Turbines system. You must contact Solar Turbines in San Diego, California, USA to find out.
The 20-COMM-C adapter for PowerFlex drives is a Phase 1.5 device only. It will not work with a PLC-5C controller that has Phase 1.25 firmware.
You absolutely must determine if your PLC-5C has Phase 1.25 or Phase 1.5 ControlNet firmware if you intend to modify any of the ControlNet components.
As you have suggested, the use of Remote I/O and the 20-COMM-R adapter for PowerFlex is a possible option for adding VFDs to this controller.