UART over CANBUS? Arduino help

Hey how can I send the speed over one VESC to the other with CAN, like Multiple ESC over CAN? I cant use 2 Serials, I only have one.

This link is not helpfull for me atleast: http://vedder.se/forums/viewtopic.php?f=8&t=360&p=2162&hilit=COMM_FORWARD_CAN#p2162

Thanks, Sander!