The CAN Bus (ISO 15765) model supports a range of parameter IDs, diagnostic trouble codes (DTCs), freeze frames, and SAE J1979 modes: 1, 2, 3, 4, 7, 9, and A.
The OBDLink ScanTool ECUsim 2000 ECU CAN Simulator for OBD-II Development is a small diagnostic tool that is ideal for DIY testing and development of OBD services and software.