TPDO's with RoboCAN and MicroBasics scripting

How do you read the data from say, Node 5 TPDO at index 0x185 using RoboCAN and MicroBasic Scripting? I've managed to do it using MiniCAN as TPDO's are mapped directly to _VAR's. Just having trouble finding any documentation that clearly defines the process using MicroBasic and RoboCAN.

Thanks

Dbls