To tame: you will need to begin by hacking a body part. (Head, left shoulder, etc). A box will then appear with 3 little lined and boxes that cross a center line. Wait for them to be even horizontally and hit R2. This will happen more times until the box fills up with I think 9 little boxes across the center line. Stand on its back for easy taming. After many attempts on a lvl 20, one successful hacking filled the tamig bar about 6%.