For a detailed "how-to" without purchasing the standard, these application reports from major transceiver manufacturers are highly regarded: AN-1123: Controller Area Network (CAN) Implementation Guide
, is available directly from the International Organization for Standardization. ANSI Webstore : You can download the standard through the American National Standards Institute (ANSI) National Standards Bodies iso 11898-2 pdf download
To access the ISO 11898-2 standard, you can download a PDF copy from various sources. Here are a few options: For a detailed "how-to" without purchasing the standard,