If your signal source can drive the optoisolated inputs of the KL-4030 directly, then you won't need a breakout board.
According to the manual at http://www.kelinginc.net/KL-4030.pdf each signal source will need to be capable of handling current in the range of approximately 7 to 16 mA.
As far as microcontroller software, do a search for GRBL.