Compax3 and Aries Ethernet Powerlink I/O
The Compax3 I30-T11 has 8 inputs, 4 outputs and are PNP. NPN is possible but needs a pull-down resistor (see user manual or C3 ServoManager's online help).
The Aries-EPL has 7inputs and 4outputs, and can be wired NPN or PNP.