CiA® 602 series: CAN FD in commercial vehicles

The market for commercial vehicles is highly fragmented, so that vehicles are produced in medium and low volumes. In diesel engine powered vehicles, CAN networks using the SAE J1939 application layer are often used. In order to increase the throughput, CAN FD could be used.

Application layer proposal for commercial trucks based on the J1939-21 specification using Parameter Groups as defined in SAE J1939-71

In part 1, the CiA 602 series specifies the physical layer including recommended topologies and bit-timing settings. In addition, this part provides general requirements for connectors and other physical layer parts. The specification is currently under development, supported by some European truck makers.

Part 2 specifies an application layer based on the definitions given in the SAE J1939-21 recommended practice. It maps several Parameter Groups into the CAN FD data frame plus short headers compliant to the Autosar specification. Additionally, an optional (safety/security) trailer can be placed in the payload. The CAN identifier – preferable the 11-bit one – contains the Source Address as defined in the J1939-21 specification in its lower prior bits. The Parameter Groups (PG) can comply with the current J1939-71 specification (always 8 byte long). It is also intended to specify shorter or longer PGs in the future.

Non-members can purchase the CiA 602-2 document. Please send an email to service(at)

Title Details
CiA 602-1 version 0.0.6.CAN FD for commercial vehicles – Part 1: Physical layer
WD264 KiB2015-10-30Login