Bosch SCARA robot, CAN bus controled drives

Well this old SCARA robot looks like it is very hard to program it, all instructions i have are in German and very hard to understand.
So i decided to retrofit it with Linuxcnc if possible.
Servo drives are controlled thru CAN bus by RHO 3.0 computer which will be removed. I don't want to remove servo drivers too because new ones that take step/dir or analog +/-10V will cost fortune.
So my question is:
Is it possible to connect these drives to Linuxcnc and how?
Here is some information for drives:
www.moog.com/content/dam/moog/literature...terpol-Manual-en.pdf

Most drives that can be controlled serially, often still have traditional analog input controls as well. And quick scan of the manual you linked to seems to imply that these are not an exception.

I don't have encoder simulation boards for these drives so there for analog input is useless i think.

I meant add on board for drives, this robot is using resolvers but drives won't work without them so i can't just replace resolvers with encoders.