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
CiA 602-2 version 1.1.0CAN FD for commercial vehicles – Part 2: Application layer
DescriptionThis series of documents specifies the in-vehicle communication between ECUs (electronic control units) for commercial vehicles based on the CAN FD data link layer as defined in ISO 11898-1. Commercial vehicles include trucks, heavy-duty trucks, buses as well as off-road and off-highway vehicles. The CAN FD for commercial vehicles specification series consists of the following parts: Part 1: Physical layer, Part 2: Application layer. This part specifies the application layer protocols based on the SAE J1939 surface vehicle recommended practice series. It includes Autosar compliant protocol data units, which comprises parameter groups as specified in SAE J1939-21 and SAE J1939-71 as well as an optional safety/security field.
DSP184 KiB2017-06-10Login