You are right to be concerned about noise. The drive will generate noise in two directions:
1) From its inputs back onto the mains.
2) From its outputs to the motor.
The noise from the inputs, if ignored, can wreak all sorts of problems. Nearby (analog) wires (especially if in paralllel for any distance) will easily pick up the substantial VFD noise and generate garbage. I have seen PLC's be rendered completely useless from the drive's input noise.
To clean up the drive inputs, install a line reactor ahead of the drive inputs: you need a line reactor for each drive, sized to the drive. Or instead of a line reactor for each drive, install a high quality filter at the power input to the PLC. If your PLC uses DC power instead of AC, many switching power supplies have superb filtering that will eliminate the need for a separate filter.
For the drive outputs, the path you run your wires and type of cable you use will have a huge effect. We use VFD cable: jacketed, shielded cables grounded at one end through stainless glands hooked directly to the main earth of the main cabinet. If you run your VFD output wires in parallel with other wires for any distance, the high speed edges from the switching transistors on the drive outputs can easily crosstalk to other signals.