IRC5 Compact PLC-Robot Communication

Hi, I have a IRC5 Compact controller and I want to establish communication with a PLC. I'm connected via Ethernet cable. I know that DeviceNet is a master/salve network on address. What would be the next step? Create a new device? I've tried using the already existing DN_Internal_Device but is not working. I'm clueless, I don't have any manuals and the ones I find online are not much help. 
Please help.  :(

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