The so-called topology is the way the bus connects the node devices.
Common topologies include linear (bus), ring, star, tree, hybrid, network, and so on.
The topology of CANBUS is a typical straight line. Hundreds of nodes can be connected to one CANBUS, and they can send and receive data independently regardless of the master and slave stations.
In order to be able to use CANBUS in industrial control automation projects, engineers developed the CANopen protocol to apply it to CANBUS, enabling it to have a master and multiple slave control methods.