9 DOF RAZOR IMU - AHRS

I want to start a new project with this sensor (9 DOF RAZOR IMU - AHRS) and a servo.
The idea is that when I move the sensor to the left the servo turns to the left and when I move the senssor to the rigth the servo move to de right.
My problem is that I haven't used before this sensor, so I don't know how to comunicate the arduino and the sensor using the tx and rx ports.
Someone can help me?