Code examples for the CS8 controller

We have a robot arm up and moving. We now need to send and receive data through the serial port. I had no success with the TCPIP. I am using portSerial1 and I am able to send "data" from the PC to the CS8. Using putLn(), I get the text value.
I see that there is an sioGet(), sioSet() and a few others in this area. Would someone please provide an example using these codes or similar to allow full duplex data transfer? Thank you very much.