The Bosch documents, even they are not the official CAN standards anymore, are still a very good reference. CAN Specification Version 2.0 1919, 73 p.

This book is the most thoroughly researched and complete work on CAN. It provides complete information on all CAN features and aspects combined with a high level of readability. More info at: http://www.copperhillmedia.com/2010/03/a-comprehensible-guide-to-controller-area-network/ Controller Area Network

German Prof. Dr.-Ing. K. Etschberger (Hrsg.) Controller Area Network (CAN) Hanser-Verlag, 2002, ISBN: 3-446-21776-2, 3. Auflage Gebundene Ausgabe, ca. 440 Seiten English Prof. Dr.-Ing. K. Etschberger (Publisher) Controller Area Network (CAN) Basics, Protocols, Chips, Applications English edition, 2001 ISBN: 3-00-007376-0, 440 Pages

by Wolfhard Lawrenz, 1997 hard cover - 520 pages (March 1997), Springer Verlag ISBN: 0387949399

by Holger Zeltwanger (WhoisWho) publisher hard cover,190p. VDE-Verlag ; Thirteen authors have contributed to the first CANopen book in German language. The 190-pages book describes in detail the CANopen communication protocols and the CANopen device profiles. The authors have covered also the Layer Setting Services (LSS) as well as CANopen configuration tools. It was not intended to substitute the CANopen specifications, but shall make it easier to read them. The book introduces also into the CAN physical layer as well as the CAN data link layer protocol.

by Olaf Pfeiffer, Andrew Ayre, Christian Keydel, Paperback, 537 pages, Annabooks/Rtc Books, ISBN: 0929392783

From the publisher: Providing a detailed look at both CAN and CANopen, this book examines those technologies in the context of embedded networks. There is an overview of general embedded networking and an introduction to the primary functionality provided by CANopen. Everything one needs to know to configure and operate a CANopen network using off-the-shelf components is described, along with details for those designers who want to build their own CANopen nodes. The wide variety of applications for CAN and CANopen is discussed, and instructions in developing embedded networks based on the protocol are included. In addition, references and examples using MicroCANopen?, PCANopen Magic, and Vector's high-end development tools are provided. More info at: http://www.copperhillmedia.com/2010/03/embedded-networking-with-can-and-canopen/

published by © 2003 CiA - not a book, but a booklet: from the Foreword: This dictionary briefly describes vocabulary and abbreviations used in CAN technology. It is not supposed to substitude any standard or specification. The dictionary may be used by CAN newcomers to understand technical articles, handbooks, etc. more easily without consulting standards and specifications. More than 300 words are explained. e.g all CiA CANopen standard and CAN related ISO numbers.

CAN dictionary is available in Russian Language

Book written in Japanese language about CAN and CANopen. Contact for details: CANopen@vector-japan.co.jp A Comprehensible Guide to J1939

The Beihang University Press publishing house has released a CANopen book (ISBN 987-7-5124-0486-1). This is a translation of the German “CANopen” book.
http://www.can-cia.de/index.php?id=1394

is the first work on J1939 besides the SAE J1939 standards collection. It provides profound information on the J1939 message format and network management combined with a high level of readability. For more info log on to: http://www.copperhillmedia.com/2010/03/a-comprehensible-guide-to-j1939-by-wilfried-voss/