Bypassing I/O signals from embedded PLC

Hello Everyone

I am using MC 20 robot manipulator with FD controller.
My application: Handling
Gripper Type: Pneumatic (2 way)
I connected the gripper inputs with Terminal block
on the controller door.
I am able to clamp/un-clamp the gripper, when
I disconnect the embedded PLC.
If I run the embedded PLC, I am able to see the
output signals(activating/deactivating) on the monitor
but no response from the gripper.
Should I modify ladder diagram of the embedded PLC?
Is there any possibility to bypass clamp/unclamp signals from PLC?
what I am supposed to do in order to use the gripper in
Auto Mode?

Thanks in Advance,
Please let me know if you need more details

Best Regards
Daniel

I have connected clamping signal to terminal block no. 7 and unclamping signal
to terminal block no. 22.
I should enable those signals(7,22) in Hardware settings with PLC through
Do you mean that?