Hi Andrew,
Depending on which digital board you're using, you may have the option to adjust the voltage level of the output. For an industrial DIO board (such as 6514/6515), the output will switch between 0V and the supplied voltage (max. 30VDC). Depending on the board, the output current level will also differ (e.g. 6514: max 350mA, 6515: max 500mA).
If you can find out what the current requirement of the valve is, and indicate which board you're considering (or currently have), we can better determine if the valve can be controlled by the board.
Thanks,
Lesley Y.