First of all, Siemens does not support CAN bus communication, which is the communication of ABPLC. If you want to achieve the purpose of CAN communication, you need to use a third-party communication module. The communication module supports at least two communication protocols, and the module plays a bridging or translation role between the two communication protocols. Imported brands are also acceptable.
Siemens PLCS (like the ET200S and S7-1200) require third-party modules for CANOPEN communication (CAN2.0 is another matter); S7-200\/300\/400 seems to have no related modules, and can only pass through a third-party gateway;