To do that you need the Fanuc robot programmer which is an off-line
software on a remote PC.
It is not possible to direclty program a robot from an IGS file, with
the teach pendant fro example.
This is actually an open problem in robotics that we are dealing with
in terms of a research project with a client that is very interested
about it. To do that, you need a preprocessor that will read the IGS
files and determine its shapes and features, then you need a second
step where the the 3D models are laeding to a process model from which
you compute task paths, like they do for CNC machines. Then, the
program is dowloaded into the robot controller memory.
There is a project who tried to do that and is called the Flexpaint
and this was mainly developpped in Vienna, Austria. They show success
for smooth, convex and simple objects.
Not possible for direct-to-controller IGES import to path. You must use
3rd-party offline programming software. There are several out there, here
is one of my favorites for power, flexibility, and ease-of-use: