It's important to clarify that PCAN-Explorer 5 is a professional, paid software tool from PEAK-System; there is no official "free" version of the full software for download.

Downloading PCAN Explorer 5 is a straightforward process:

Recording, analyzing, and storing complete bus traffic for post-analysis.

For legal zero-cost monitoring, PCAN-View provides a high-quality alternative for basic CAN monitoring tasks directly from the hardware manufacturer. Whichever path you choose, a good grasp of PCAN-Explorer 5's capabilities will make you more effective at analyzing and debugging the CAN networks crucial to modern systems.