This is something that will be specific to the programming of that drive. I have a copy of the programming manual, but not on this PC. However I highly suggest that you invest in one if you own this drive, it is virtually impossible to program it without the manual. The ACS800 is a highly complex piece of equipment, not a "starter kit" for VFDs.
Without knowing for sure, the GENERAL methodology in drives programming is that you program one of the digital inputs for Start/Run (assuming 2 wire control), hard wired to the Hand position of your HOA switch as the Local command. Then program another input as "Local-Remote", hard wired to the Auto position of your HOA switch. Then, as an example depending on how THAT drive says it reacts, when the L-R input is low (off), the drive does nothing unless the Start/Run command goes high. When the L-R input is high, the drive is on Remote Control and accepts whatever is supposed to control it automatically, such as the communications port from a PLC, and also ignores the Start/Run input terminal status. If your remote control is via digital inputs as well, then you have to set up another input as the PLC Start/Run command. But again, all of this is very very specific to how THAT drive functions.
If you would like me to RTFM and program it for you, please forward $100,000 US to my PayPal account immediately, that will cover my time and whatever travel costs it will take to get me to your drive, wherever you are. There are others here who would likely do it for less, but they are not me...
"You measure the size of the accomplishment by the obstacles you had to overcome to reach your goals" -- Booker T. Washington