With factory default settings, the CAN ID of this module is 1 and it will send its replies via CAN ID 2. CAN bit rate is 1000kBit/s. All these settings can be changed, but for a first try I would not recommend changing the settings.
You can find the explanation how to send TMCL commands via CAN in the first half of chapter 3.1 of the TMCM-1060 TMCL firmware manual (not much, but it is as easy as that). You just send the TMCL command bytes via a 7 or 8 byte CAN telegram (it is not CANopen protocol - it is just sending TMCL commands via CAN bus).
So to run the motor using an ROL 0, 50000 command you will have to sent the following via CAN (with ID 1): 0x02 0x00 0x00 0x00 0x00 0xC3 0x50.