Can-Network (Controller Area Network): Compatibility
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The units must "speak" the same language and must be compatible with each other. A standardised communication protocol is used for this.
Signal configuration (sfg) contains the language between the units. If any module has a signal configuration which does not correspond to other units the module cannot communicate. This means that all the units must have compatible signal configuration. The signal configuration is occasionally modified so that the new messages are added and old messages removed.