How do I know the eCAN Transmit transfer rate and how do I change it?

Hello everyone, I am using TI DSP TMS320 F28335 to communicate with Matlab via CAN-bus. I use the Embedded Coder Support Package for Texas Instruments C2000 Processors/C2833x to build the transmit model for my DSP. The communication all works fine but how do I know what the transfer rate is? And how do I change it? and how faster can it go? How do I know its limit?

Because I have a motor control that has the resolution of 10 µs. And I want the DSP to upload the value from the motor control to the DSP. The problem is I dont know the transfer rate of the eCAN Transmit. If the transfer rate is 100µs(What I assume), then I want to make it much smaller. I hope someone can help me with this.

[shivam chaturvedi]

How did you connect the transceiver with the can bus can you please share.