you can use CANbus. See the blocks CanSend and CanRecv.
There is also an example project 0406-01 included in REXYGEN Studio.
For your experiments, you can use the 2-hour demo licence which covers CAN.
The CANbus driver must be supported in the OS. As soon as the CAN device appears in the output of "ip link show", typically as can0, you should be fine.
The baudrate is configured in /etc/rexcore/rexcore.env.d/80-candrvt.sh (uncomment the 2 lines) on your target device.
Hope this helps, let me know.