Get values from slave VESC

Hello,

I'm working on my dual electric motor boat and pretty much everything works except for one thing. How do i get values from the slave VESC?

I have an Arduino that talks UART to the master VESC and then the second is connected using the CAN-bus. I can control both motors perfectly using the following code:

UART.setDuty(LeftMotorDuty, LEFT_BLDC);
UART.setDuty(RigthMotorDuty);

I can also get values (like rpm, amps and so on) from the master VESC. The question is how to get values also from the second VESC?

/Magnus