You can find information and the VI's for Jaguar using CAN here.
http://firstforge.wpi.edu/sf/projects/canjaguar
I also highly recommend you read you the getting started for both the Gray and the Black Jaguars.
http://www.luminarymicro.com/jaguar
You will also need to make a serial to can adapter as described in the Getting Started for the Black Jaguar or the TooCan adapter from Andy Mark.
You will need to have the most current firmware loaded for each type of Jaguar.