Is there any other way to do it? Apparently they didnt purchase the IO card kit so it is just an empty area where the JANCD-ABB02-E label is?
Depends:
Are you using a filedbus to communicate from PLC to robot?
if yes you can simply modify the robot ladder to do the ext servo on and the ext start.
EXAMPLE (DX200) in general purpose settings:
Factory Ext Start(CN308 - B1)
STR #20010
OUT #70010
Modify
STR #20010
OR #xxxxx (your ext signal coming from plc through fieldbus)
OUT #70010
The same for ext servo on(CN308 - B3, signal 20014)
if you are using direct connection (and not fieldbus) you must purchase an I/O card.