I have never tried using a 1734-ADN with a robot, but even with a AB PLC you have to use RSNetworx for Devicenet to build the 1734 scanlist, and then link that scan list to the PLC.
IIRC, you create a Devicenet file for your main network, and then create a second devicenet file just for the point IO. Then you drill down into the Point IO and set it up, and save that devicenet file. Then you go back out into your main devicenet file and associate the .DNL file with your main .DNL. I can't remember exactly where you do that though.
I had to do something similar to a Fanuc robot with IO Link one time too. It required using RSNetworx for Ethernet/IP
the AB manual that you want to reference is 1734-um002_-en-p.pdf