IMHO no, because the information you transfer to the safety PLC does not come from a certified safety device. You could use an FSPS-21 module on your drive, if it supports it, in order to transfer STO contact opening information directly to ProfiSafe on ProfiNet. Of course if the drive is ABB product, last series, e.g. ACS580 - ACS880 - ACS380
IMPORTANT DISCLAIMER .... Advice you get for free on the internet regarding Safety Systems is worth exactly what you paid for it. Safety functions typically need to be signed off by a qualified engineer.
1. The PLC cannot be part of the "Safety Circuit" because it is not safety rated. And neither is your application. 2. However, the PLC can Monitor the Safety Circuit through an auxiliary contact on the Safety Relay.
So yes, your PLC can indicate when the Estop has been pressed, but it cannot be part of the control circuit that shuts off power to the STO on the drive.