To give an example for what scottyUK said, a regular relay with a coil and contacts have contacts which open and close when the coil is energized and/or deenergized. These contacts are 'dry' or volt free contacts, not connected to the supply that controls the relay coil. However, these contacts can be used to control (make or break) other circuits (such as a motor control circuit) which will have voltage.
Where as PLC's (unless specified otherwise) would have outputs which can have +/-24V to 48V ac/dc signal on them. They are not volt-free. Then you have to have a interveinig relay drive by PLC to get volt-free contacts.