Workgroup computer accessing Domain drives

I have a Laptop that is not a member of my domain. I can not join it to the domain because it is connected to a piece of equiptment that will not allow it. I need to access a shared or mapped drive on my server. When I map a drive then try to access it it tells me to goto the control panel to configure. Not sure what this means? I am using SBS2003 and XP. Any help is greatly appericated