||How do I calculate worst case message delay times and data bandwidth?
The Embedded Systems Academy offers a free online calculator:
After entering the desired baud rate, the length of the shortest CAN message (enter number of data bytes in your shortest PDO) and the length of the longest CAN message (enter 8 - SDO message is always 8 bytes long) hit the "Calculate" button.
The form gets updated and shows you an approximation of the expected timing behavior. It is an approximation only, as CAN uses stuff bits - so the exact message length varies slightly with data contents.