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The POSClient has an erc20 method which returns an object of an ERC20 token. You can then call various methods on the object. 
const erc20token = posClient.erc20(<token address>,<isRoot>);
Passing second arguments for isRoot is optional.

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Child token

Token on polygon can be initiated by using this syntax - 
const childERC20Token = posClient.erc20(<child token address>);

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Parent token

Token on ethereum can be initiated by providing the second parameter value as true. 
const parentERC20Token = posClient.erc20(<parent token address>, true);