In day to day conversation âif âyou donât understand something . . . and if you cannot understand something are taken to mean exactly the same, eg. the inability to understand something. However "can't" conveys the definite fact of not having the skill, whereas "don't" implies the ability to understand but leaves open the possibility of being unable to understand something for some other reason. In both cases, you'll definitely want to consult the dictionary to either understand, learn, or verify.
Canât and unable to are both used to talk about ability. Sometimes they are used interchangeably, and sometimes they are not. Canât is used informally, whereas unable to is used in more formal registers. Consider your situational context and make a decision accordingly.
I hope this helps!