Connecting to a NAS drive

In my home, I have a network attached storage (NAS) drive on my network. I have all of my music and video stored on it. It was originally installed to support my SONOS. The files that are on it were copied from a Windows system. I would like to be able to access those files from my Mac.

How can I map that drive to my Mac?

Will I be able to read the file once mapped?

If it isn't FAT32, you need to take all the data off of it, reformat it to FAT, and then replace the data.

How do I find out how it is formatted? It is a Maxtor drive.