If you reboot the camera (Pelco), it will show on the startup screen the Pelco P/D address, baud rate, etc. Attach the control wire (RS-485/422) in the right polarity (Tx+/Tx-). If you do not know this or cable not labeled, just reverse wiring in your setup if it does not work. Hopefully, the DVR you have includes a RS-485 connector (should). Connect wire. In the DVR programming, you should find some type of programming for PTZ. Usually under the camera specific configuration, it will indicate the protocol and address to use. Make sure you get the baud rate correct (2400, 4800, 9600) based on what the Pelco camera startup screen said. (It is best to record or take a picture of this screen for reference).
If it was controlled by coaxitron (I assume not, since you said it was previously used with Geovision), this is another can of worms which requires protocol translators.