Adding new axes/mechanism

Hi team,

     I would like to know how to add a new axes/(mechanism) and control it - just control the servo in my robot (IRB 1300) tool but not any changes in the Coordinate system. I just want to Control the servo from Teach pendant without any help of other Control System (such as PLC).

Is it possible with the standard purchase elements in the robot ?

How we can accomplish these scenario, correct me if this idea is a wrong.

Any help is appreciated !

Thanks in advance.