CAN-Where to Start

[kamocat]

You can.
But the example you linked is not as simple as the "Voltage Mode Example".
If you want the same functionality as in the voltage example (but regulating speed instead of voltage), then your best option is to modify the voltage example to use speed instead.
If you've already determined the appropriate PID values though testing with the BDC-COMM, then use those values when you set the PID.