If the CPLD is in a commercial product, it is most likely that the security bit is set so that you will not be able to read the contents. Quite possibly even if the security is not set, the JTAG interface might be reassigned as general I/O on a small device like that, so even then you won't be able to read it.
Unfortunately the only way you will find out is to buy a programmer and try it. Simple JTAG adapters for the EPM7032 can be made or bought very cheaply though. The interface is very simple - google it.
If the lock bit is set then your options are to pay for decapping and microprobing (almost certainly not worth the high cost to you) or put a logic analyser on the working circuit and record all the activity on the device through all possible permutations. Since it's only a very small device, logic analysis should be relatively simple. Then, a compatible program can be written.
What is the host device, and does it have a JTAG connector itself?