Yes, the Niryo_Stepper connection on the back of the arm uses a CAN interface.
You might also consider using the Dynamixel bus for direct Raspberry Pi control of motion.
Using the general purpose I/O pins on the Niryo_One would allow you to activate a pre-programmed motion through an Arduino+Ramps board.
One advantage of using I/O pins is that they are supported directly with Niryo API & Niryo_Studio whereas either communication bus would require changes to the Raspberry Pi firmware.
Reply To: Control an external stepper motorFindingNiryo2019-03-25T13:12:34+01:00