Hey Taipei,
Once you install NI-CAN you should find several Frame API examples located on you hard driver at C:\Program Files\National Instruments\NI-CAN\MS Visual C\Frame API examples. Out of these examples five of them do not involve RTSI. They cover how to set filters, write, read, readmult, and just read or analyze the data on the bus. I would suggest creating each of these examples into projects that compile so you can test them out. For most of these examples all you need is a two port CAN device and then loop the ports together.
I hope this helps out.
Joshua P.
Application Engineering
National Instruments