Hi,
The Data Acquisition Toolbox software does not directly support CompactRIO devices. However, Instrument Control Toolbox can be used to communicate with the CompactRIO controllers over Ethernet using TCP/IP. Read this to learn more. In addition, MATLAB can communicate with the serial port RS-232 port on the controllers. Read here to learn more.
Instrument Control Toolbox provides a graphical tool, called Test & Measurement Tool, which allows you to communicate with, configure, and transfer data with your TCP/IP or serial device without writing code. This tool generates MATLAB code for your device that you can reuse later to communicate with your device or use to develop UI-based applications. The online documentation for this tool is available here.