Note that URCap for the IO coupling is for the CB3.1 model but you can use the I/O coupling on the CB3.0 by using a little script program
Knowledge
The CB3.0 has the same specification at the wrist connector as the CB3.1 so you can use the I/O Coupling.
You can use the script function from UR to trigger the wrist connector IO and make the IO coupling and the gripper work.
See this program example:
Our I/O coupling works with 4 presets where the Force and Speed are configured. You can customize each presets using the RUI (Robotiq User Interface) on a laptop.
See the 4 factory presets: 
Note that with the I/O coupling, the specifications are the same for both the finger grippers and the vacuum. The force or vacuum level won't be limited by the wrist connection.