CAN Communication

Okay, I read the manual for configuring the CAN,

I want to send and receive the message over CAN,...

I am configuring node 1 and 2

to configure TPDO 1, and the CTPS rate, i know i have command ^CTPS 1 100, for 100 ms
i can configure the frames, but is there any equivalent to micro-basis script, that i can write there and send it over real time ?

for receiving the messages over CAN, I have to configure the RPDO and i am using RPDO 1, so after receiving this i want to use set_position to 0, is there any microbasic script that i can use?

don't know how this works? please explain