Yes...You can Use Delta PLC DVP-12SE or any Transistor output PLC... and Microstep Driver DM542...
IF you need to control one motor Y0 and Y1 will be use and if you need two Y2 and Y3 will be Use
Relay output cannot be control this high speed pulses
There are two type control for stepper drive...DDRVA and DPLSY or DRVA and PLSY
Examples are attached for Program in ISPSoft
DM542 Manual link http://tinel.com/uploads/DM542.pdf
in case of any help, you can send me email rizwanmfsj@gmail.com