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I'm not sure about that specific drive but the myRIO is capable of outputting PWM on its digital lines. There's an Express VI that comes with the myRIO toolkit which generates PWM on the PWM pins on the myRIO. I've linked the help here.
It looks like it will depend on the drive and I can't speak definitively about that, but it looks like the PWM input should go to P1-17 and the Direction will enter P1-19. This is described in the PWM and Direction section (2.6.4) in the document you linked. I'm not sure how you will need to configure the drive, but that should describe the hardware connections at least. It looks like it is possible. If you have any further questions, it would be helpful if you could provide the model of the drive you're using. Thanks!