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Appendix
10.
Appendix
10.1.
Baud rate
Parameter
Range
Function
BRP
1~32
Set size of 1T
q
SYNC_SEG
1T
q
Used in CAN Bus to synchronize various nodes.
Size is fixed to 1T
q
.
PROP_SEG
(1~8) x T
q
Compensates for physical delay times. (Physical bus and
internal CAN node transmission delay)
TSEG1
(1~8) x T
q
Used to correct Phase Edge Error. May be lengthened
temporarily by synchronization.
TSEG2
(2~8) x T
q
Used to correct Phase Edge Error. May be shorten
temporarily by synchronization.
SJW
(1~4) x T
q
Set T
q
that TSEG1 may be lengthened or TSEG2 may be
shortened. Should not be greater than TSEG1.
PR TSEG1 + 1 >= TSEG2
Calculation
CAN_CLK = 60000000 / (DIV+1)
CAN Baud rate = CAN_CLK / ((BRP+1) X (TSEG1+2+TSEG2+1))
Sample Point = (TSEG1+2) / (TSEG1+2+TSEG2+1) X 100
Setting 50~70% for Sample Point is recommended
(However, for CANOpen, set it to 80%~90%)
