DLT 4000 drivers?

I am using a Quantum DLT 4000 tape drive on a PowerMac G4 with OS 10.1.5
I'd like to use the Terminal application, which is based on BSD 4.4, to see the tape drive and write backup tapes to it.
First, is there a way to list all the devices attached to the computer? And secondly, is there a way to show a description of what each device is - I know that some items in the /dev folder are not physical devices.
Where can I find software on the internet that will allow me to communicate with the tape drive via Unix?

Any help would be greatly appreciated. Thanks!

-Derek