Each node of a CAN network can initiate the transmission of a message as soon as the bus is free. As it may happen that more than one network node begins with the transmission of a message at the same time, an arbitration process is necessary, which ensures only one node actually continues with the transmission of its message.
As every node can initiate a message transfer, a direct message transfer between all nodes of the network is possible. Thus it is also possible to only transmit messages when this is required, i.e. a corresponding event has occurred. Compared to a cyclic message transfer, a considerably lower bus load or a reduction in the required data transmission rate results.