Hello
You need first make your ladder. You need to read concurrent I/O manual.
Here is example when plc send to robot values what are writing external inputs group 20080 and 20090 to robot register M011.
MOV W#20080,M011
He is example when robot send to plc data.
MOV M001,W#30080.
Okay when you get communication ok
here is little example one way to send position data to robot or robot to plc.
'ROBOT TO PLC
GETPOS PX000 STEP#(1)
GETE D001 P000 (1)
GETE D002 P000 (2)
GETE D003 P000 (3)
GETE D004 P000 (4)
GETE D005 P000 (5)
GETE D006 P000 (6)
SET I001 D001
SET I002 D002
SET I003 D003
SET I004 D004
SET I005 D005
SET I006 D006
SETREG MREG#(1) I001
SETREG MREG#(2) I002
SETREG MREG#(3) I003
SETREG MREG#(4) I004
SETREG MREG#(5) I005
SETREG MREG#(6) I006
'PLC to Robot
GETREG I011 MREG#(11)
GETREG I012 MREG#(12)
GETREG I013 MREG#(13)
GETREG I014 MREG#(14)
GETREG I015 MREG#(15)
GETREG I016 MREG#(16)
SET D011 I011
SET D012 I012
SET D013 I013
SET D014 I014
SET D015 I015
SET D016 I016
SETE P001 (1) D011
SETE P001 (1) D011
SETE P001 (2) D012
SETE P001 (3) D013
SETE P001 (4) D014
SETE P001 (5) D015
SETE P001 (6) D016
I hope this helped.