BECKHOFF FC5101 - Manual (Page 60)

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Baud rate + 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 optimised for the maximum bus length.