I have been tasked with purchasing and connecting a vacuum gripper to a Kuka KR20 with a KR C4 controller. Right now, I am looking at either getting a RobotIQ or a Schmalz vacuum gripper. I have attached a picture of the connectors used by these grippers. However, our KR C4 controller does not have any digital I/O ports to connect the gripper too. I noticed our robot has XPP, XPN, X96 and X91 ports in its base with lines that run up its arm. It is possible to order and install a digital I/O port that uses one of these connectors in our KRC4 controller? Or is there a better way to control a vacuum gripper?