CAN BUS Interface Question

I have a module which I want my Arduino Uno to set its state. From reading some of the documentation for the module it is:

  • CAN BUS Reciever

  • Two Inputs

-Rx
-Tx

  • States - 4:

1- Initialize
2- Set to Ready
3- Set to Standby
4- Read Errors

From reading CAN bus - Wikipedia, it appears I need to know the "Protocol". I was wondering if someone could help me validate my methodology? Also, once I get the protocol, would it be a matter of setting a baud rate, start/stop bit etc???

Thanks for any insight.