Now let’s tale a closer look at the traffic that travels the CAN bus. Information is transmitted in packets, called Message Frames. There are five types of Message Frames. A Data Frame is the most common Message Frame. It is the main element of CAN communication because it carries the actual payload data from transmitting nodes to receiving nodes. An Error Frame is transmitted by a network node whenever it detects an error in a Message Frame. Consisting of 6 consecutive dominant bits, it prompts the transmitting node to retransmit the erroneous message. An Overload Frame requests a delay or pause on the bus so nodes have more time to process data. An Interframe Space provides minimum spacing between data and Remote Frames. It allows Error Frames to have levels of priority. A Remote Frame request the transmission of a Data Frame. The identifier (ID) in the Remote Frame defines the type of information that the requested Data Frame should contain. A Remote Frame contains no payload. Other than that, it is very similar in format to the Data Frame, which will be covered in detail on the next several pages.