Ethernet to Fanuc 30i CNC comm's

I am about to set up an ethernet comm’s link to a Fanuc 30iCNC. I have no previous experience of doing this but I do have the OEM list of signal parameters for the machine > robot and robot > machine. Also, the ethernet card/comm’s has been pre set up by Fanuc. What I can’t figure out is how to set up the UR10E to get the specific signals I need such as ‘Start Load’, ‘Close Door’ etc from the program variables to the input/output bit registers, then get the registers to be read by the scanner (CNC-PLC). Could do with an idiots guide to setting up comm’s. Anyone able to help here?