CAN in Automation (CiA) is the international users' and manufacturers' organization that develops and supports CAN-based higher-layer protocols. About 600 companies from all over the world joined the non-profit organization. CAN specifications are developed within CiA interest groups (IG) in cooperation with employees of the member companies. The working group for the higher layer protocol CAN Application Layer (IG CAL) is inactive since many years. The one for the higher layer protocol CANopen (IG CANopen) is still active as well as the IG CAN FD (CAN with flexible data rate).