Only Controller with RS232 are Displays DP6xx and DP7xx and ....
MC012 can't do RS232.
What is the distance between sensor and Controller?
RS232 with 9600bit/s is to fast to handle without RS232-interface in controller.
If you wand to handle this manually, the bit-rate should be very slow.
I think, the best way is, to convert it to can-signal.