There is not an option to input the values like you specified in single lines of code.
However You could create premade variables with our predefined messages with the ArCanFrame datatype and then just change the whole frame.
ResetDeviceCommandFrame.Data[0] := 16#18;
ResetDeviceCommandFrame.Data[1] := 16#15;
...
And then use it
ArCanSender.ArCanSend_0.Frame := ResetDeviceCommandFrame;