Yes, but it’s a different process. The traditional IO4AB applies to SNAP products, but not for the groov family of products.
Setting up an EPIC as an Ethernet/IP slave (adapter) requires you to use CODESYS Ethernet/IP adapter module. We have some other posts where customers used the EPIC as the Ethernet/IP scanner (master), like this one here - Fanuc R30iB Ethernet/IP using Codesys
Hope that helps!