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 [kBaud]	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.