Yes I am using a 24v relay for my end effector. Using Pins 1/2 and 3/4 on the load side, and pins 7/8 and 3/4 for the control side.
Since my relay is in fact an optocoupler, so diode base, I got rid of the separated diode, but during my testing and prototyping, both type 1N4007 (1000v – 1A) and type SF63G (150v – 6A) were fine. (That’s what I had on my hands to play with)
I can share the spec of it if you are interested.
For both input and output, the triggering voltage is 24v. I did not experiment to see how low would trigger since all my machines and everything I am playing with is 24v. But from the user manual, it seems anything above 1.6v is the high logic state, and below 1v for the low state. (Page 47 of the user manual)