Hi,
Maybe you can do CAN communicaton with Arduino (Arduino is mainly an IDE for different hardware platforms)
Maybe you can do simple PWM for DC motor control with Arduino..
But I doubt you can do three phase SPWM motor control on Arduino. At least I have my doubts for reliable industrial equippment (but I never tired it).
But now you maybe want some additional control loop for the motor application, like PID..
..and the same time you want CAN communication without stopping PID and PWM...
Here I see the limitations of Arduino. Maybe osible, but then probably with the same effort than with any other languange and IDE.
Software becomes difficult, because you need at least do the PID and the PWM in real time ... and additionally the CAN in parallel to it... and most probably more other tasks
I don´t want to discourage you, but it will take some time...
Klaus