No special configuration is needed, for basic communication. You need the SNPX option on the robot side.
Look for the HMI SNPX Manual from FANUC. In the manual you can find all the assignments for the I/O, R's , PR's and alarms.
On Weintek side you can use the following driver: GE Automation -> GE 90-30 on Ethernet and you input the IP of the robot. Make sure that HMI and robot are in the same IP subclass.
Notes: Even if no SNPX_ASG is configured you can still access I/O's. Please note that in the HMI the type is the other way around as in the robot. So for example to access DI in the robot in the HMI you would use Q_Bit 1.