When laying out the wiring harness, try to keep the wiring of the CAN line as smooth as possible, so as to avoid the foldback of the CAN line. Make sure that when each branch line is connected to the main line, the connection points of CAN_H and CAN_L are kept at the same position of the main line as possible. In principle, the node distance between each node is not allowed to be of equal length. It should be kept away from power lines and signal lines as far as possible, and parallel wiring should be avoided as much as possible; the CAN bus should be arranged near the interference source. When shielded wire is used, the shield must be grounded at either end (or the shield at both ends).