LR Mate 200id COM TCP/IP

I think you will need to contact the manufacturer or Fanuc on this. They would know what you need.
You will probably need the Ethernet I/O option and manually configure the rack probably rack 89 I'm guessing
Here is a list of configurations

Rack:
0 process I/O boards (also memory image)
16 AB or Genius I/O
32 Slave SLC2 I/O
33 internal relay/register
34 flag marker
35 always on/off port Slot 0 = OFF Slot 1 = ON
36 DCS port
48 address mapped I/O for LR Mate Peripheral connectors
64 ME-NET
65 INTERBUS-S
66 PROFIBUS DP master
67 PROFIBUS DP slave
68 FL-net
69 FL-net status
70 InterBus-S master
71 InterBus-S slave
72 IO-LINK II master
73 IO-LINK II slave
74 FIPIO master
75 FIPIO slave
81 first DeviceNet board
82 Used by DeviceNet
83 Used by DeviceNet
84 Used by DeviceNet
85 controlnet; also used 86
86 Used by ControlNet
87 RoboWeld
88 Ethernet Global Data (GE-EGD I/O)
89 EthernetIP (ControlNet over ethernet) I/O
90 Arclink Rack Number
91 WTC Serial Weld Controller I/O
92 CC-Link RD
93 InterBus PxC PCI master
94 InterBus PxC PCI slave
95 InterBus PxC PCI cmd
96 Modbus TCP
97 TOYOPUC PC3J Interface
98 InterBus PxC Slave interface
99 PROFINET I/O Controller
100 PROFINET I/O Device
106 EtherCat

I know little about controls, but I know that Pro-face and Allen Bradley both have PLC, HMI, and Ethernet connectivity. Im sure there are plenty more options out there, but that is what we have used in the past where I work.

We use Siemens.

Quote from Racermike123

We use Siemens.

On Ethernet? or profibus?

We use profibus but i know it has ethernet.

Quote

Fanuc confirmed that I had the option Ethernet, lack of chance my PLC communicates in Modbus and so I am stuck.

I am pretty sure there are some gateways to enable communication between Ethernet/IP and Modbus devices.

Quote from skalactik

I am pretty sure there are some gateways to enable communication between Ethernet/IP and Modbus devices.

try Anybus modules...