Hey MJ,It appears that whoever designed or built the machine decided that ALL AC Neutrals and All DC Commons should be tied to the same ground plane.
This arrangement works in some technologies (radios and TV's) because of built-in filtering. The entire chassis of the radio or TV is designed to accomodate the AC and DC. However, in the very small low-voltage portions of the chassis, the voltages are still isolated! (because of noise!)
Now, the machine you are talking about is neither a radio nor a TV. It was not designed from the ground up taking into consideration what grounding may or may not be acceptable.
It's usually the case that grounding is the last thing thought about when building industrial machinery. Technicians that are adding parts and throwing things together are looking for a desired result. It isn't until they find that they don't get the desired result that they start looking for reasons. And even then, a grounding problem is the last thing they think of. (I'm not talking about machinery designers, I'm talking about those people that are designing and building machines in the factory on the fly.)
Sometimes, early in the process they simply decide, "We ain't gonna have that ground problem this time, so lets bring ALL AC Neutrals and ALL DC Commons to the same ground plane." They think that Common and Neutral are the same thing! The fact is, it IS and it AIN'T! Depends on how you look at it. (Light? is it a steam of particles or is it a set of waves? The answer is, BOTH!)
Anyway, back to your issue...
Like I said earlier, the supply side of the low-voltage sources should be tied to ground, but the load side does not need to be tied to the main ground plane. A 24VDC Power Supply will not hurt you. You'll just start to feel a tickle at around 48VDC.
Grounding the 24VDC Common does nothing to improve the safety. It only introduces the possibility of electrical noise on the low-voltage signal which could cause erroneous readings at the PLC input.
A low-voltage DC Supply will perform better if you have an isolated return path (Common) to the load side of the supply.
So, since Grounding the Common can lead to small signal noise problems, and since you really don't need a ground plane (as in safety ground) for the load side of the DC Supply, why do it?
In the case you described where the DC Supply provides power to mechanical switches, if the switch shorts to ground (Earth Ground) there will be minimal effect on the supply. That is, there is no short circuit across the DC Output of the supply (see NOTE).
NOTE:===========================================================
Unless you just so happen to have a short between V+ to ground, and another short from 0V or V- to ground, in which case your supply might fuse-out. You could have any number of shorts between the Common side of any load and ground without any serious effects.
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Your input to the PLC might not work (maybe), but you won't have a dangerous situation and your supply won't fuse-out.
At the PLC, the inputs are optically isolated from the innards. All of the terminals on the input card can and should be wired in such a fashion as to maintain isolation between the DC Voltages in the sensors and the AC Voltages in the PLC.
I'm open to all comments.