I want to implement CAN protocol for remote I/O' and UOP(User Operating Panel).The remote I/O and UOP only communicates on CAN bus and they are developed by our company so we are having our our frame structure for CAN protocol.Now PLC is having Standard CAN protocol,so is it possible to send our CAN frame on same Standard CAN bus.Though I know programming but I m not experienced in protocols.I m only one year old in Automation field.Please help with some doc or reference study material regarding same