Using CANOPEN protocol through usb

Hi, I am diong an interface for a ISEL DM20 driver that controls a dc motor. I need to communicate the pc software in processing to the driver. The driver admits rs232 and CAN, I am using the rs232 and an adapter to the usb port. My problem is that I do not know how does the SERIAl library of processing works. I read and write, but i do not know what am i reading or writing. Using a Hyperterminal i can send and recieve very well the data, but with processing i have no idea. Thanks in advance! I can paste the code if necessary.

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