The outputs can be programmed as per the list, the DRV and UPF is open collector of a NPN transistor.
The FC,FA, FB is simply a N.O. and N.C. contact of a relay, use the N.O. and program the function for it as a FAULT which would be setting # 3 for the parameter, in this case, in the event of a fault, there would be contact closure between FB and FC.
BTW PD052 relay terminals are set to 03 fault indication by default.
AL..