Hi Shanna,
I am not familiar with your motion controller, but if it has a serial port on it you can control it over RS-232. In a nutshell GPIB is an interface that was designed to support instrument control. Many instruments have both serial and GPIB ports so you may be able to control your device with serial. The main disadvantage of serial is that it is slower and will not allow multiple instruments to be addressed on the same bus.
If it does have serial support you should be able to replace the GPIB write functions with serial write functions. In the end the driver is nothing more than a big program that takes input, concatenates strings, and writes them out over a bus.
Hope this helps out. Let me know if there is anything else I can do for you!
Best Regards,
Aaron K.
Application Engineer
National Instruments