try this How to: Ackmaniac ESC Tool
manual setup is the same as the one with CAN, only that you only do 1 vesc at a time.
Turn off everything, Remove the CAN cable, plug usb in your Master Vesc, do a setup and save.
Connect usb to slave vesc and do the same thing again, save everything.
Turn everything off, connect CAN and open the tool again. But first, check if you can even set up one vesc.