CAN FD implementations that are designed according to this specification and
CAN implementations that are designed according to the BOSCH CAN Specification 2.0 can communicate with each other as long as it is not made use of the CAN FD frame format. This enables CAN systems to migrate gradually into CAN FD systems. In the introductory phase, it is possible to use CAN FD only in specific operation modes, e.g. software-download at end-of-line programming, while other controllers that do not support CAN FD are kept in standby.