The output on the E10-npn are transistor output. At 12V and 80 ohm coil the current required is 0.15A which is well within the current capacity of the output. So I don't see any problem using this PLC to drive your load. A clamping diode will be good for protecting the output driver and reducing noisy current.
The output on E10-Relay are electromechanical relays that can drive up to 2A at 24VDC or 250VAC.