The Codesys with Ethernet/IP with eds files method that @greichert mentioned is probably the most professional way to do this, but we monitor (not control) our PowerFlex 525 VFDs with 2-wire Modbus RTU and it works great. More here. Eventually we might send stop/start signals via Modbus.
Grabbing the data via Node-RED to InfluxDB & Grafana gives us tons of info that is usually locked inside crytpic codes / screens.
