You can use a 1K ohm pull down resistor between the PLC's NPN input and the ground (0V). In this case, the PLC input is turned ON when the PNP sensor is OFF. When the sensor turned ON, the NPN input will be pulled up to 24V by the sensor and therefore the input is OFF.
You can work on the input directly using negative logic, or if this is confusing, simply invert the state to a relay and use the relay in place of the input contact to the logic:
IN1 CR1
|--|/|-----------(RLY)