has anyone worked with Gamoto motor controller?

Hi -

has anyone worked with the Gamoto motor controller? I'm having a heck of a time trying to interface it with the Arduino.

http://www.gamatronix.com/product_info.php/products_id/28

I've tried making a library object of their example C++ code and that didn't work. The main problem I am having is their method of writing to and reading from registers as a way of communicating.

If anyone has worked with this controller and has some tips I would love to hear them!

--Roy