How i can connect the pci nican card with stoeber posidyn sds 4021 via serial cable

i'm trying to communicate the stoeber posisyn sds 4021 servo inverter and the pci ni-can card via serial cable. the problem is that 1 RxD and 2 TxD pins dont have any connection available on the can card.
it is important to connect these pins somewhere or can_l and can_h do all the job?
what about the v- terminal, it is possible to connect it in grnd and leave v+ with 8v?

In this situation it may be necessary to contact the manufacturer of this device. It is strongly recommended to use both CAN_H and CAN_L for CAN communication. The V- pin is used as reference ground. The V+ is simply for bus power.
Randy Solomonson
Application Engineer
National Instruments

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