I want to link the icons with the text given on the same page. The purpose is to highlight the text in a defined color while clicking onto the icon.
I am not aware of any way you can do that in FrameMaker.
You could make a PDF and add the highlighting in Acrobat Standard or Professional with buttons and the show/hide commands. You could use the same button commands in an InDesign document so that they would work as soon as you export an interactive PDF.