At 3V the profet should be on, so the output voltage should be close to the input voltage.
Something seems to be wrong, either your measurement or both boards. Is the 3V signal stable or could it be a PWM signal? That would explain the lower output voltage.
pin 1, GND: 0V
pin 2, IN: <1.5V when off, >2.4V when on
pin 3, input: 24V
pin 4, feedback: open drain low on failure, depending on the connected load this pin it may or may not provide a useful signal
pin 5, output: close to input when on, otherwise lower
If pin 3 is +24V and pin 2 is stable at >2.4V and pin 5 is not near +24V then either the profet is not working correctly or there is a short at the output.