6172 CAN micro controller module

The Can In Automation (CiA) workgroup recommends the following speeds and sample moments for the CAN bus (assuming a CAN controller with a 16 MHz clock, one time quantum is 2 clock cycles):
 

Bit Rate	Bit Time	Time quanta per bit	Time quantum length tq	Location of sample point
1 Mbit/s	1 µs	8	125 ns	6 tq (750 ns)
800 kbits/s (unused in 6172)	1.25 µs	10	125 ns	8 tq (1 µs)
500 kbit/s	2 µs	16	125 ns	14 tq (1.75 µs)
250 kbit/s	4 µs	16	250 ns	14 tq (3.5 µs)
125 kbit/s	8 µs	16	500 ns	14 tq (7 µs)
50 kbit/s	20 µs	16	1.25 µs	14 tq (17.5 µs)
20 kbit/s	50 µs	16	3.125 µs	14 tq (43.75 µs)
10 kbit/s	100 µs	16	6.25 µs	14 tq (87.5 µs)

 

The CAN controller in the 6172 (Motorola MCAN08) is clocked with 30 MHz (one time quantum is 2 clock cycles, 800 kbits/s cannot be implemented), this reverts to the following speeds and sample moments:

Bit Rate	Bit Time	Time quanta per bit	Time quantum length tq	Location of sample point
1 Mbit/s	1 µs	15	66.7 ns	11 tq (733 ns)
500 kbit/s	2 µs	15	133.3 ns	13 tq (1.73 µs)
250 kbit/s	4 µs	15	266.7 ns	13 tq (3.47 µs)
125 kbit/s	8 µs	15	533 ns	13 tq (6.93 µs)
50 kbit/s	20 µs	15	1.33 µs	13 tq (17.3 µs)
20 kbit/s	50 µs	15	3.33 µs	13 tq (43.3 µs)
10 kbit/s	100 µs	10	10 µs	8 tq (80 µs)