Hello Wellington,
I can help you with the PWM signal generation, however, being honest I don't have much experience in CAN so I recommend you to create a new thread regarding the CAN help.
If you decide to work with Processor Expert, it provides an API to change the PWM Duty Cycle which can be called when a CAN message is received so it shouldn't be a problem to work in this way.
If you have any other doubt regarding the PWM generation please don't hesitate in contact me.
Best regards,
Earl.