If you want to connect, for example, NPN sensor to module intended for PNP sensors, this can be achieved by resistor if relay isn't suitable: one end to +24V, another end to sensor output. For example, SM321 (for PNP) module assumes -30V to 5V as 0, 13V to 30V as 1. Input current is 7 mA. Voltage drop on 720 Ohm resistor is 5V. We have 19V at module input (logical 1) when sensor output transistor is closed. When sensor output transistor is fully opened, voltage drop on it is small and we can ignore it. Current through sensor is less than 33 mA when 720 Ohm is used. If your sensor rated operational current is greater than that value - OK.