You could do it with a D0-05 or D0-06 PLC from Automation Direct. But your top step pulse output frequency will be fairly limited. An Omron CP1H micro PLC will put out a much higher frequency and control 4 drives to boot, but is quite a bit pricier. But with either option, you are looking at a profile you must preprogram. Then there are microcontrollers, etc. So yes you can. But then it depends on what you are trying to accomplish.