How to use CAN Bus of HPC Controller for programming

[Smarte]

Hi All,
Im looking for detailed introduction / description of the CAN Bus from HPC Controller, because I want to controll the HPC via CAN Bus with a microcontroller to give e.g. dynamic torque request.
Is there a detailed description available?
Has anybody experience controlling the HPC x00 Controller via CAN Bus?

Thank you for your support

Georg