Mitsubishi FX3U-48MR-ES/A programmable controller has 24 sink/source DC inputs and 24 relay outputs in a 182x90x86 mm footprint, AC powered, and draws 40W. The unit's 24 inputs accept 24 VDC signals, and the relay bank gives you isolation per channel — handy when you're switching different voltage levels on the same machine. Total I/O is 48 points, and the base unit cannot be expanded beyond that (no expansion bus on this model).
Confirm the I/O count (24 inputs, 24 relay outputs), AC mains supply, and that the 182x90x86 mm footprint fits your cutouts.