Can 2.0 refers to a more updated edition of the CAN standard that allows for larger messages. It doesn’t really have anything to do with the ‘protocol’ which is CanOpen. The Can Open protocol is a worldwide standard and practically more popular in Europe than in the US. But there are a lot of devices that support it.
Our CAN Module GRV-CCANI-2 only works with the CodeSys language, and not yet with our PAC Control. I don’t know when that will be resolved. It might be a while.
A serial interface, which is what COM port means to me, would probably work. And the Modbus TCP as well. (TCP means it is over Ethernet.)
I see your link to the Applied Motion site. I took a look at the site and found a document on their Modbus TCP protocol.
Below is a link to Modbus TCP info on those drives. There is good information there in case you don’t know much about Modbus.
Either way, there is learning to do no matter what approach you take. But to do some simple motions you can send just a few commands from the Opto Controller to the Servo Controller (using modbus) and quite possibly get the job you want done.