Trad heli dronecan esc disable real pwm srv ports

Hello I’m using dronecan esc, and I get them working on srv 1/2/3/4.

as they are drone can, there is possible to allocate them on srv17/18/19/20 these output not exist on the pixhawk 6X, like this I liberate 4 real pwm servo port?

Please let me know.