CANopen baud rate and bit timing
Bit Timing
The following baud rates and entries in the bit-timing register are supported by the CANopen devices:
Baud rate [kbit/s] | BTR0 | BTR1 | Sampling Point |
|---|---|---|---|
1000 | 0x00 | 0x14 | 75% |
800 | 0x00 | 0x16 | 80% |
500 | 0x00 | 0x1C | 87% |
250 | 0x01 | 0x1C | 87% |
125 | 0x03 | 0x1C | 87% |
100 | 0x04 | 0x1C | 87% |
50 | 0x09 | 0x1C | 87% |
20 | 0x18 | 0x1C | 87% |
10 | 0x31 | 0x1C | 87% |
The bit-timing register settings given (BTR0, BTR1) apply, for example, for the Philips 82C200, SJA1000, Intel 80C527, Siemens 80C167 and other CAN controllers. They are optimized for the maximum bus length.