The output is open collector, (NpN) in other words it will not drive a PNP type input, if the PLC is capable of sink/source connection should be ok if connected properly, or you could try connecting a 4.7k resistor to the input to 24v but this may reduce the frequency it will work at.
I once did this when a replacement flowmeter was NPN rather than PNP, it worked but it is only a guess that 4.7k will switch the voltage above & below the switching points of the input, generally, inputs are 10ma if I remember correctly, the other thing is that the signal is effectively inverted i.e. input is on when no signal but should not matter.