Looking for help programming 58UHF RFID Transceiver

My company recently acquired a Rockwell 58UHF-TR-200-LR50US RFID UHF reader/writer, and we're looking to integrate it into our manufacturing line, but the documentation hasn't gotten me much of anywhere useful attempting to program it. 
The line currently uses a 5069-L320ER running firmware V36. We want to be able to track where/how many trays are currently on the line (each tray will have its own rfid tag), with each zone being its own reader. As a basic example, it would give a read out that there are 5 trays in zone 2, and if someone looks at the details of zone 2 it can read out which trays specifically are there.
Any and all help is much appreciated! Thanks in advance!