Can Bus Programmer needed

We are looking for a can bus programmer to program a module with I/O ports to send a signal when a button is pressed on a hmi systems pku 2400. See the attached drawing. We can get any programming information from HMI systems. The end goal is to send a contact closure signal into a Crestron processor and our AV programmer will do the rest. We need recommendations on a can bus i/o module.