VESC tachometer data pull through CAN bus

As I am using one of my VESCs to control a motor that turns (jaw) an outboard boat motor with a 100:1 gear ratio, it would be extremely useful to read the tachometer counts. The motor is connected to a VESC motorcontroller, which is connected to a RPi via CAN bus. When running the real time data analysis you can see that the tachometer reads every pulse from the encoder. In my chase its 3 hall sensors, so one rotation of my rotor would make the tachometer value change by +/- 12. I know it is a variable that is stored in the microcontroller of the vesc. What is the specific command I can send from my RPi to pull the tachometer value? Or how can I make this happen? Added a screenshot of how sending 1000rpm through canbus looks like on my RPi It is not seen in the 1_2_3_4 status updates that is broadcasted. Tried playing around with different commands from this site [login to view URL] The project code is avaliable here [login to view URL] Part of code with can [login to view URL] [login to view URL]