You can connect several different types of devices to a DP segment. As DP segments are Ethernet busses, you can connect PLC panels to a DP segment via a special I/O card.
You create a PLC panel compatible with a DP segment exactly the same way you create any other PLC panel. While creating such a panel, make sure that you select the Enable DP Profibus check box so that you can associate this panel with a DP Profibus segment.
For details, see the following Create a PLC (Programmable Logic Controller) Panel.