I think the module that you are looking for would be the cFP-DIO-550 since it is able to do both digital input and output. Let me know if this works for you.
You are correct in that the cFP-DIO-550 does not support 5V logic levels. You would need to add external circuitry to sift levels.
You might consider using a cFP-CTR-502 . It can handle 5V levels. User manual indicates that gate-input channels can be configured as digital inputs and that output channels can be configured as straight digital outputs.