Hello,
The online documentation has a section here for configuring cnPilot devices. The cnMaestro On-Premises User Guide posted in the Support Center here will also have a section on cnPilot device configuration.
In addition, this Knowledge Base article provides steps and examples for more advance configuration using User-Defined Overrides.
For specific configuration details, such as individual security settings, I recommend posting on the device forum for the device type you are trying to configure. Meaning R-series (Home) or E-series (Enterprise). They will be able to guide you on what configuration settings should be used in your AP Groups.