Bit rate for CAN communications

Dear sir;

I am doing an automotive project in LPC2368.Here It uses CAN for making communication between the nodes .The bit rate for both TX and RX is at 500KBits per second.

I configured a network consisting of two transmission nodes and single reception node.If I transmit with 12 data from "CAN_Send_Data" buffer like

 while(1)
  {
        pCAN_Send_Data = CAN_Send_Data;
        for( i=0;i<12;i++)
        {
            Return_Value=lpc2000CANdriver_CertainTxBufTransmitMessage(LPC2000_CANCHANNEL_1,pCAN_Send_Data,LPC2000_TXB_1);

                pCAN_Send_Data++;

        }

 }

In the receiver I am not getting all data from transmitter.If I put the delay I am getting most of data in Receiver.I am putting delay as shown below,

 while(1)
  {
        pCAN_Send_Data = CAN_Send_Data;
        for( i=0;i<12;i++)
        {
            for(j=0;j<200000;j++); /*delay for making Receiver to proccess data*/

Return_Value=lpc2000CANdriver_CertainTxBufTransmitMessage(LPC2000_CANCHANNEL_1,pCAN_Send_Data,LPC2000_TXB_1);

                pCAN_Send_Data++;

        }

 }

Will you please tell me ,How I can transmit a data from transmitter in order to achieve 500KB per second(with or without delay) ,such that I can receive and proccess(printing in UART0) all data in the receiver.

Sincerely
Shamsudheen OP