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Please answer me:
1. What is the difference between CAN Node ID & CAN Message ID? How the CAN Node ID helpful in Communication?
Because, In ISO-14229-1 document I found 00-FF CAN Frames are reserved for various SERVICES. I'm pretty sure you're misunderstanding the document there. UDS has nothing to say about CAN frame IDs. It can't have, because it doesn't talk about CAN in the first place.