diff --git a/docs/rock4/rock4d/hardware-use/canbus.md b/docs/rock4/rock4d/hardware-use/canbus.md
index a7ebe63dc..0d1380c5e 100644
--- a/docs/rock4/rock4d/hardware-use/canbus.md
+++ b/docs/rock4/rock4d/hardware-use/canbus.md
@@ -12,3 +12,9 @@ imports_resolve_to:
 import CANBUS from '../../../common/dev/\_canbus.mdx';
 
 <CANBUS rsetup_link="../system-config/rsetup#overlays" />
+
+:::tip
+ROCK 4D 的 CAN 控制器支持 CAN FD（CAN with Flexible Data-Rate），可以使用示例命令中的 `fd on` 与 `dbitrate` 配置数据段波特率。
+
+ROCK 4D 主板**不板载 CAN 收发器**，需要外接 CAN 收发器模块；如果要使用 CAN FD 较高的数据段速率，请确认外接的收发器模块本身支持 CAN FD。
+:::
diff --git a/i18n/en/docusaurus-plugin-content-docs/current/rock4/rock4d/hardware-use/canbus.md b/i18n/en/docusaurus-plugin-content-docs/current/rock4/rock4d/hardware-use/canbus.md
index c1bf83a79..f6babe4fb 100644
--- a/i18n/en/docusaurus-plugin-content-docs/current/rock4/rock4d/hardware-use/canbus.md
+++ b/i18n/en/docusaurus-plugin-content-docs/current/rock4/rock4d/hardware-use/canbus.md
@@ -12,3 +12,9 @@ imports_resolve_to:
 import CANBUS from '../../../common/dev/\_canbus.mdx';
 
 <CANBUS rsetup_link="../system-config/rsetup#overlays" />
+
+:::tip
+The CAN controller on ROCK 4D supports CAN FD (CAN with Flexible Data-Rate), and you can use `fd on` and `dbitrate` in the example commands to configure the data phase bitrate.
+
+ROCK 4D **does not have an on-board CAN transceiver**, so an external CAN transceiver module is required. If you need the higher data phase bitrates of CAN FD, make sure the external transceiver module itself supports CAN FD.
+:::