CiA® 106: Connector pin assignment

CiA 106 recommends connector pin assignment for CAN-based solutions. In order to achieve interchangeability of devices regarding the CAN interface, it is necessary to use compatible physical connections with a matching plug and socket connector pin-assignment.

The first pin-assignment was recommended by CiA for the D-SUB 9-pin connectors. Through the years, CiA has recommended the pin-assignment for many kinds of connectors. These recommendations have been published in the CiA 303-1 document dedicated for classic CANopen applications.

In order to generalize these recommendations, CiA has moved the pin-assignment recommendations to the CiA 106 document, which is not more related to classic CANopen only. The connector pin-assignment recommendations given in this document have been extended and are valid for Classical CAN, CAN FD, and CAN XL interfaces. They are also referenced by profile specifications for classic CANopen and CANopen FD devices. The recommendations are also suitable for other CAN-based higher-layer approaches, which do not recommend or specify contradictionary pin-assignments.

To give a comprehensive overview of the CAN-related connectors available on the market, references to standards and specifications of other standardization bodies and associations were included in CiA 106.

If you would like to recommend the pinning of an additional connector, please contact CiA office at secretary(at)

Title Details
CiA 106 version 1.1.0Connector pin-assignment recommendations
DescriptionThis document recommends the connector pin-assignment for CAN interfaces. This includes the CAN_H and CAN_L pins, the ground pin, and the power supply pins.
TR0.9 MiB2023-07-11Login