SDC2160N CAN-Node ID

I am trying to use CAN for SDC2160N. What is the default node. I am using it with arduino. It works well with RS232 but not CAN.

RS232:
Serial2.print('!');
Serial2.print('G'); // Motor GO command
Serial2.print(' '); // Space
Serial2.print('1'); // Channel Number
Serial2.print(' '); // Space
Serial2.print(200); // Motor Power Value
Serial2.println(); // Motor Power Value

CAN:
unsigned char roboteQ[7] = {'!','G',' ','1' ,' ', 200 ,'\n'};

// send data: id = 0x00, standrad frame, data len = 8, stmp: data buf

CAN.sendMsgBuf(0x01,0, 7, roboteQ);

I am using canOpen. I have connected the DB9 connector to my arduino CAN, both trying to communciate at 125kbps.

All I need to send is command velocity, that is it. DO you think the other protocols will be more beneficial.

Thanks

The CAN-BUS Shield on Arduino adopts MCP2515 CAN Bus controller with SPI interface

Also if you see RoboCAN interface, It is quite simple and elegant. The way I am sending code matches with the way they are sending data.
SetCANCommand(id, cc, ch, vv)SetCANConfig(id, cc, ch, vv)

Where:
id is the remote Node Id in decimal
cc is the Command code, eg _G
cc is the channel number. Put 1 for commands that do not normally require a channel number
vv is the value

Example:
SetCANCommand(04, _G, 1, 500)


unsigned char roboteQ[7] = {'!','G',' ','1' ,' ', 200,'\n'};
CAN.sendMsgBuf(0x01,0, 7, roboteQ);


I am not a CAN expert. Its is my first robotics interface with CAN. So, In case my questions are silly please pardon me.