You can create a function converting a hex number to binary with something like this :

function hex2bin(hex){
    return ("00000000" + (parseInt(hex, 16)).toString(2)).substr(-8);
}

For formatting you just fill a string with 8 0, and you concatenate your number. Then, for converting, what you do is basicaly getting a string or number, use the parseInt function with the input number value and its base (base 16 for hex here), then you print it to base 2 with the toString function. And finally, you extract the last 8 characters to get your formatted string.

2018 Edit :

As this answer is still being read, I wanted to provide another syntax for the function's body, using the ES8 (ECMAScript 2017) String.padStart() method :

function hex2bin(hex){
    return (parseInt(hex, 16).toString(2)).padStart(8, '0');
}

Using padStart will fill the string until its lengths matches the first parameter, and the second parameter is the filler character (blank space by default).

End of edit

To use this on a full string like yours, use a simple forEach :

var result = ""
"21 23 00 6A D0 0F 69 4C E1 20".split(" ").forEach(str => {
  result += hex2bin(str)
})
console.log(result)

The output will be :

00100001001000110000000001101010110100000000111101101001010011001110000100100000

'b' is correct. Hexadecimal doesn't specify letter case, and many write hex strings with lower-case letters.

Try this jsfiddle.

The more interesting functions to you are here. Not necessarily the cleanest or most efficient ones, but yea:

// converts binary string to a hexadecimal string
// returns an object with key 'valid' to a boolean value, indicating
// if the string is a valid binary string.
// If 'valid' is true, the converted hex string can be obtained by
// the 'result' key of the returned object
function binaryToHex(s) {
    var i, k, part, accum, ret = '';
    for (i = s.length-1; i >= 3; i -= 4) {
        // extract out in substrings of 4 and convert to hex
        part = s.substr(i+1-4, 4);
        accum = 0;
        for (k = 0; k < 4; k += 1) {
            if (part[k] !== '0' && part[k] !== '1') {
                // invalid character
                return { valid: false };
            }
            // compute the length 4 substring
            accum = accum * 2 + parseInt(part[k], 10);
        }
        if (accum >= 10) {
            // 'A' to 'F'
            ret = String.fromCharCode(accum - 10 + 'A'.charCodeAt(0)) + ret;
        } else {
            // '0' to '9'
            ret = String(accum) + ret;
        }
    }
    // remaining characters, i = 0, 1, or 2
    if (i >= 0) {
        accum = 0;
        // convert from front
        for (k = 0; k <= i; k += 1) {
            if (s[k] !== '0' && s[k] !== '1') {
                return { valid: false };
            }
            accum = accum * 2 + parseInt(s[k], 10);
        }
        // 3 bits, value cannot exceed 2^3 - 1 = 7, just convert
        ret = String(accum) + ret;
    }
    return { valid: true, result: ret };
}

// converts hexadecimal string to a binary string
// returns an object with key 'valid' to a boolean value, indicating
// if the string is a valid hexadecimal string.
// If 'valid' is true, the converted binary string can be obtained by
// the 'result' key of the returned object
function hexToBinary(s) {
    var i, k, part, ret = '';
    // lookup table for easier conversion. '0' characters are padded for '1' to '7'
    var lookupTable = {
        '0': '0000', '1': '0001', '2': '0010', '3': '0011', '4': '0100',
        '5': '0101', '6': '0110', '7': '0111', '8': '1000', '9': '1001',
        'a': '1010', 'b': '1011', 'c': '1100', 'd': '1101',
        'e': '1110', 'f': '1111',
        'A': '1010', 'B': '1011', 'C': '1100', 'D': '1101',
        'E': '1110', 'F': '1111'
    };
    for (i = 0; i < s.length; i += 1) {
        if (lookupTable.hasOwnProperty(s[i])) {
            ret += lookupTable[s[i]];
        } else {
            return { valid: false };
        }
    }
    return { valid: true, result: ret };
}

Thanks to Andrey I found the solution:

I have to write in binary mode, so:

var ab = new ArrayBuffer(bytes.length); //bytes is the array with the integer
var ia = new Uint8Array(ab);

for (var i = 0; i < bytes.length; i++) {
  ia[i] = bytes[i];
}

var blob = new Blob([ia], {type: "application/octet-stream"});
saveAs(blob, id + "_<?php echo $report['md5']; ?>.bin");

Using built-in functions:

parseInt('1010101010', 2).toString(16)