single VESC 6+ controlled by CAN-bus

Hi, I recently tried to use CAN-bus to control VESC 6+ (Fw: 5.2 , Hw: 6.0).

Is it possible?   I have done with the Motor Settings and tried to set App Setting like below:

And now I knew CAN_ID=60, but don't know the format of the CAN message. (I used speed control to control the motor)