CAN Node ID

The primary difference is that there is no such thing as a CAN Node ID. Some protocols built on top of CAN may have the concept of a node ID; but CAN itself does not.

UDS (Unified Diagnostic Services) is build over CAN Data Frame. This is using CAN Node ID concept. Can you please explain how "Node ID" is useful? How "Node ID" is assigned to a CAN Controller?

Isn't that described in the protocol specification?

This is using CAN Node ID concept.
Not really. That's a UDS node ID.

UDS itself doesn't even require that there is any CAN involved. It's a higher protocol layer that can be transported via multiple transport protocols. ISO TP over CAN (ISO 15765-2) is by far the most common choice, but it's not the only one.

In UDS many services are defined under ISO 15765-2 standard. Also, UDS implemented over CAN Data Frame. When i tried to send UDS sevices, Service ID is transmitted on <bCAN message ID field.

Consider below example:

I am sending UDS Serviece ID: 10 & Sub function 01:

Time       CAN Ch.    ID      Dir     DLC     Data
----       ------    ----    -----   -----   ------
1170.375428    1      10       Rx     d 2     10 01  ---> is observed on CANoe.
(Here Service ID 10 is sent on CAN Message ID Field )

Below i am sending 0x5F0 Message:

Time       CAN Ch.    ID      Dir     DLC     Data
----       ------    ----    -----   -----   ------
1164.695001    1      5F0      Rx     d 8     0A 8A 0A 00 00 7E 00 00

Below aer my Questions:
1. How does the CAN Controller differentiate CAN Message frame & UDS Services.
2. Why UDS Service are Transmitteing on CAN Arb ID Field?
3. How UDS Services are identified and processed i.e., on which CAN Msg Frame these are sent? (Here i strucked with CAN Node ID Concept.)

Where did you get your ISO-15765 and ISO-14229 solution/software?
Your questions are supposed to be answered by your vendor.

-> Service ID 10 is sent on CAN Message ID Field
Very strange to me.

Would like to learn more from our experts. Though I am no longer working on CAN products.

I want to know how CAN controller is able to differentiate CAN Message ID & UDS Services? Also, Does CAN Node ID Concept i.e., Does CAN Controller have Node ID, if yes, how it is useful and how and where we can assign node ID?

The CAN controller doesn't give a hoot about any protocol used. It just performs whatever ID filtering it supports based on whatever standard it supports. Then it hands over accepted frames and leaves it 100% to the source code to decide what to do next.

Some protocols and some CAN controllers makes it easy to set up the required filtering in hardware. Some protocols/CAN controllers means you have to let the controller accept lots of frames and let the software do further filtering.

What CAN controller are you using?
Does it's documentation mention UDS?

The CAN controller likely just filters on CAN message ID, and expects YOUR software/stack to do the other work.

( I am not a native English speaker. )

There are several CAN devices on a CAN-Bus.
Device-A, Device-B, Device-C.

Device-A is configured to only receive CAN-Messages with CAN-IDs 0xA10, 0xA50;
Device-B is configured to only receive CAN-Messages with CAN-IDs 0xB10, 0xB50, 0xB70;
Device-C is configured to only receive CAN-Messages with CAN-IDs 0xC10, 0xC50, 0xC90;

So there are CAN-Nodes:
A-0xA10, A-0xA50,
B-0xB10, B-0xB50, B-0xB70,
C-0xC10, C-0xC50, C-0xC90.

TP Layer (ISO-15765) is responsible to deliver UDS (ISO-14229) Data from one device to another, even the UDS data is more than 8 bytes.

DS Layer is on the top of TP Layer.

Device-A:
A-0xA10 for receiving Runtime data.
A-0xA50 for receiving UDS data. (Runtime Diagnostic is possible)

When Device-C wants to send UDS data to Device-A, it sends the UDS data (100 Bytes) with CAN-ID 0xA50 via TP Layer (more than 100 Bytes). Once Device-A's TP Layer receives the UDS data (more than 100 Bytes), TP Layer passes the UDS data (100 Bytes) to it's DS Layer. Device-A's DS Layer then analyzes the UDS data, fetches the Service-ID......

For automotive, in the real world, the UDS solution is decided by Car manufacturers, and controlled by very less solution providers. Since you have CANoe, I believe you should have a better way to learn UDS and ISO 15765-2.

Is it possible that one ECU will request another ECU for diagnostic data using Services? I think it is not possible. Tester needs to send Diag services for diagnosing the ECU. One ECU can't diagnose other ECU.

Please let me know does CAN ID '0' is valid or not?

In UDS many services are defined under ISO 15765-2 standard.
No, they're not. UDS is defined on top of ISO TP, not the other way round.

Also, UDS implemented over CAN Data Frame.
No. The only implementation you've seen is over ISO-TP. That doesn't change the fact that UDS can be implemented on top of other transport protocols, too.

It's ISO TP which, in turn, is based on CAN frames.

When i tried to send UDS sevices, Service ID is transmitted on CAN message ID field.
That's either pure coincidence, or a faulty implementation of UDS/ISO-TP, or you've been mislead be the very powerful interpretation features of your CAN inspection program.

I want to know how CAN controller is able to differentiate CAN Message ID & UDS Services?
It isn't, because there is nothing to differentiate. Some CAN frames are used to transport UDS via ISO TP, others are used for other data. A CAN frame is a CAN frame is a CAN frame.

Also, Does CAN Node ID Concept i.e., Does CAN Controller have Node ID,
How often do I have to tell you it doesn't before you start believing it?