CAN J1939 (Control) - CAN SHIELD

I am using CAN bus shield with Mcpcan library to monitor CAN messages. Is there anyway to use the CAN send message for receiving information from Application Layer J1939/71(which are available on request)? And is there a way to use CAN bus shield to set desired parameters like speed, position? It would be great if someone could help me on this???

Have you looked at the book 'SAE J1939 ECU Programming & Vehicle Bus Simulation with Arduino' published by Cooperhill?

if you do a web search for arduino J1939 you should get some useful links