UAVCANV0 and CAN2.0B communication with Ardupilot simultaneously


I am new to Ardupilot and UAVCAN. I have following doubt on CAN protocol compatibility with Cube Orange Autopilot (Ardupilot)

Can UAVCAN v0 devices and CAN2.0B devices be connected to same or different CAN ports of Ardupilot and Can both devices communicate satisfactorily with Cube Orange Autopilot (Ardupilot) simultaneously?

Thanks & Regards,