What model controller and teach pendant do you have?
You can set up PLC to robot communications to select the unit load, which the PLC could get from the PanelView. I have some older robots running Fanuc PalletTool, and we use that feature on one of them. The programs that interchange data via RIO is a bit weird and clunky, but it works. I am not sure how the setup for ethernet works, but I would expect that the fanuc folks can help you set that up.
Be sure to get all the manuals you can with the robot. They don't exactly give away a pdf library like some mfg...you gotta order the manuals the old-fashioned way in most cases, but a new robot may come with manuals on CD.
My experience is limited to my three robots, but if yours happens to be a similar era controller and software, I may be able to help more.
Paul