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Does Lexium 23 Plus pulse input accept 24 volt and 5 volt logic?

No, Lexium 23 plus pulse and direction inputs are designed for 5 volt logical signals only.
If you want to use 24 volt logical outputs from the PLC then you must add a 1k ohm series resistor in line with the signal to drop the voltage to an acceptable level. (see attached example diagram)

 
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