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<TD class=path><A
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<A
href="http://www.can-cia.org/canopen/protocol/">protocol</A></TD></TR></TBODY></TABLE></TD>
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<TD class=modify
style="TEXT-ALIGN: right; align: right"><SPAN
id=pingu><A title="Thilo Schumann"
href="http://www.pingu.info/">Pingu</A></SPAN>Last
modified: 2003-12-23</TD></TR></TBODY></TABLE></TD></TR>
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<H2>CANopen protocol - Bit timing</H2>
<P><BR></P>
<TABLE cellSpacing=0 cellPadding=4 width="100%"
bgColor=white border=0>
<TBODY>
<TR>
<TD bgColor=#009966><B>Bit
rate <BR>Bus length <SUP>(1)</SUP><BR><BR></B></TD>
<TD bgColor=#009966><B>Unterminated cable drop
length <SUP>(5)</SUP><BR>(cumulative
length)</B></TD>
<TD bgColor=#009966><B>Length of time quantum
<SUP>(4)</SUP><BR><BR></B></TD>
<TD bgColor=#009966><B>Nominal bit time
<SUP>(4)</SUP><BR><BR></B></TD>
<TD bgColor=#009966><B>Sample point location
<SUP>(4)</SUP><BR><BR></B></TD></TR>
<TR>
<TD>1 Mbit/s <BR>25 m<BR></TD>
<TD>1.5 (7.5) m</TD>
<TD>125 ns</TD>
<TD>8 t<SUB>q</SUB><BR>(1 祍)<BR></TD>
<TD>6 t<SUB>q</SUB><BR>(750 ns)<BR></TD></TR>
<TR>
<TD bgColor=#006699>800 kbit/s<BR>50 m<BR></TD>
<TD bgColor=#006699>2.5 (12.5) m</TD>
<TD bgColor=#006699>125 ns</TD>
<TD bgColor=#006699>10 t<SUB>q</SUB><BR>(1.25
祍)<BR></TD>
<TD bgColor=#006699>8 t<SUB>q</SUB><BR>(1
祍)<BR></TD></TR>
<TR>
<TD>500 kbit/s<BR>100 m<BR></TD>
<TD>5.5 (27.5) m</TD>
<TD>125 ns</TD>
<TD>16 t<SUB>q</SUB><BR>(2 祍)<BR></TD>
<TD>14 t<SUB>q</SUB><BR>(1.75 祍)<BR></TD></TR>
<TR>
<TD bgColor=#006699>250 kbit/s<BR>250 m
<SUP>(2)</SUP><BR></TD>
<TD bgColor=#006699>11 (55) m</TD>
<TD bgColor=#006699>250 ns</TD>
<TD bgColor=#006699>16 t<SUB>q</SUB><BR>(4
祍)<BR></TD>
<TD bgColor=#006699>14 t<SUB>q</SUB><BR>(3,5
祍)<BR></TD></TR>
<TR>
<TD>125 kbit/s<BR>500 m <SUP>(2)</SUP><BR></TD>
<TD>22 (110) m</TD>
<TD>500 ns</TD>
<TD>16 t<SUB>q</SUB><BR>(8 祍)<BR></TD>
<TD>14 t<SUB>q</SUB><BR>(7 祍)<BR></TD></TR>
<TR>
<TD bgColor=#006699>50 kbit/s<BR>1000 m
<SUP>(3)</SUP><BR></TD>
<TD bgColor=#006699>55 (275) m</TD>
<TD bgColor=#006699>1.25 祍</TD>
<TD bgColor=#006699>16 t<SUB>q</SUB><BR>(20
祍)<BR></TD>
<TD bgColor=#006699>14 t<SUB>q</SUB><BR>(17.5
祍)<BR></TD></TR>
<TR>
<TD>20 kbit/s<BR>2500 m <SUP>(3)</SUP><BR></TD>
<TD>137.5 (687.5) m</TD>
<TD>3.125 祍</TD>
<TD>16 t<SUB>q</SUB><BR>(50 祍)<BR></TD>
<TD>14 t<SUB>q</SUB><BR>(43.75 祍)<BR></TD></TR>
<TR>
<TD bgColor=#006699>10 kbit/s<BR>5000 m
<SUP>(3)</SUP><BR></TD>
<TD bgColor=#006699>275 (1,375) m</TD>
<TD bgColor=#006699>6.25 祍</TD>
<TD bgColor=#006699>16 t<SUB>q</SUB><BR>(100
祍)<BR></TD>
<TD bgColor=#006699>14 t<SUB>q</SUB><BR>(87.5
祍)<BR></TD></TR></TBODY></TABLE>
<P><BR><B>The table entries are an example based on the
follow assumptions:<BR></B></P>
<TABLE cellSpacing=2 cellPadding=0 width="100%"
bgColor=#006699>
<TBODY>
<TR>
<TD>
<TABLE cellSpacing=2 cellPadding=0 width="100%"
bgColor=#ffffff border=0>
<TBODY>
<TR>
<TD width="40%">Oscillator frequency:</TD>
<TD width="40%">16 MHz ⌨️ 快捷键说明
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