Computer-implemented method for changing a node ID. Claims, device, computer program, computer-readable storage medium.

Abstract

The invention relates to a computer-implemented method for changing a node ID of a node (2, 3, 4) from a plurality of nodes (2, 3, 4) in a CAN bus network (1), comprising the steps: receiving a node ID from each of the nodes (2, 3, 4) of the plurality of nodes (2, 3, 4) (S10), determining a first node (2) and at least a second node (3) with the same node ID (S20), requesting the first node (2) to send a first serial number (10) and the at least second node (3) to send a second serial number (14) (S30), receiving the first serial number (10) and the second serial number (14) (S40), generating at least one first changed node ID for the first node (2) (S50), and assigning the at least first changed node ID to the first node (2) based on the first serial number (10) (S60). The invention further relates to a device, a computer program and a computer-readable storage medium.

Description

The invention relates to a computer-implemented method for changing the node ID of a node from a plurality of nodes in a CAN bus network, a device, a computer program and a computer-readable storage medium. CAN bus networks are a well-established technology. They are used in industry, for example in electric vehicles, industrial automation, and wind turbines, to exchange data between individual devices. In a CAN bus network, each device, or node, receives its own node ID. Devices can then communicate with each other using this node ID. The node ID is typically assigned when a device is installed in a system. For example, the device may already be equipped with a node ID upon delivery. If, during subsequent operation, it is discovered that several devices share the same node ID due to an installation error, this cannot be easily resolved, as they cannot be addressed individually based on their shared node ID. A method for the automatic assignment of CAN bus node IDs is known from CN 109889627 A. A method for the automatic assignment of CAN bus node IDs is known from CN 115766326 A. In this context, it has become apparent that there is a need to provide a method for changing the Node ID of a node from a multitude of nodes in a CAN bus network, in particular a need to provide an improved method for changing the Node ID of a node from a multitude of nodes in a CAN bus network. It is therefore an object of the present invention to overcome, or at least partially overcome, the disadvantages described above in methods for changing the node ID of a node from a plurality of nodes in a CAN bus network. In particular, it is an object of the present invention to provide an improved method for changing the node ID of a node from a plurality of nodes in a CAN bus network. This problem is solved by a method having the features of independent claim 1. Furthermore, the problem is solved by a device having the features of independent claim 8, a computer program having the features of independent claim 9 and by a computer-readable storage medium having the features of independent claim 10. Features disclosed in connection with the inventive method naturally also apply in connection with the inventive device, the inventive computer program, the inventive computer-readable storage medium and vice versa, so that with regard to the disclosure of the individual aspects of the invention, mutual reference is always made or can be made. According to a first aspect of the present invention, a computer-implemented method for changing a node ID of a node from a plurality of nodes in a CAN bus network is provided, comprising the steps of: receiving a node ID from each node of the plurality of nodes, determining a first node and at least a second node with the same node ID, requesting the first node to send a first serial number and the at least second node to send a second serial number, receiving the first serial number and the second serial number, generating at least one first changed node ID for the first node, and assigning the at least first changed node ID to the first node based on the first serial number. The term CAN bus network, in this context, refers to a network of devices that communicate with each other via a serial communication protocol within a CAN bus system. This communication protocol can include, for example, CAN 2.0, CAN FD, or CANopen. Preferably, the communication protocol should be CANopen. In this context, the term "node" refers specifically to a participant in a CAN bus network. A node can be, for example, a machine component, a measuring sensor, a drive, an actuator, or the like. In this context, the term Node ID refers specifically to a unique identification number for a node in a CAN bus network. It is used particularly to distinguish between different nodes within the CAN bus network. In this context, the term serial number refers to a unique identifier assigned to a device at the factory. The serial number can be used to trace a component. For example, the serial number might be stored in the object directory of a node. The serial number could include, for instance, the production date and a sequential number. Receiving the Node ID can be done indirectly, for example, via the heartbeat mechanism. Each node sends a heartbeat message at regular intervals, for example to a master node, containing the node's current state (e.g., stopped or operational). The heartbeat message includes a message ID that contains the node ID. Determining a first node and at least one second node with the same node ID can preferably be achieved by evaluating the heartbeat messages, for example, by a master node or a control unit, especially those with the same message ID. This allows, for example, the determination that two nodes have the same node ID. Detecting the situation where multiple participants with identical node IDs exist on the same CAN bus is possible, for example, through the occurrence of multiple messages (such as multiple SDO messages or multiple PDO messages) with the same message ID. Receiving the first and second serial numbers can be accomplished, for example, via a remote frame. A remote frame, also known as a remote transmission request, is a message sent by a master node to request data from another node. Preferably, the remote frame can be sent to both nodes with the same node ID. The two nodes then send their responses, containing their respective serial numbers, to the master node. These responses can preferably be delayed to prevent data collisions. This can be achieved using a special access method, CSMA / CR, for resolving collisions in the CAN bus network. This effectively prevents data collisions. Generating at least one first modified Node ID for the first node can preferably include selecting a Node ID that is not yet used in the CAN bus network. Assigning the first modified node ID to the first node based on the first serial number can preferably be done by sending a configuration request to change the node ID to both the first and second nodes. This configuration request can preferably be sent from the master node. The configuration request can preferably include not only the modified node ID for the corresponding node but also its serial number. This allows, for example, the node to check whether the serial number in the configuration file matches its own serial number. If there is a match, the node ID is changed; if there is no match, the node ID remains unchanged. The invention is based on the understanding that when using CAN bus devices, it can happen that several of these devices are connected to the CAN bus with an identical node ID, for example, because the assignment of an individual node ID was forgotten before installation. To reduce the number of product variants with different node IDs, in industrial series production, products are always manufactured with the same node ID at the factory and the node ID is only configured accordingly during installation. In this case, these devices cannot be addressed individually, and their responses can no longer be distinguished. This can lead to far-reaching problems in systems, such as offshore wind turbines, if the devices include measuring sensors in the rotor of a wind turbine. The effort required to replace the measuring sensors is then very high in terms of both finances and logistics.In the worst-case scenario, this situation can lead to the need to remove the sensors with identical node IDs or to disconnect the CAN bus connector to individually set the node ID. This can result in very high, even unacceptable, installation costs (e.g., in the case of a wind turbine). The invention proposes capturing the node IDs of individual nodes, identifying nodes with the same node ID, querying their serial numbers, and assigning new node IDs based on the serial number. Using the unique serial number, nodes with the same node ID can be individually requested to change their node ID to the new one. This allows for the advantageous identification and modification of node IDs without physically removing the node, ensuring that no nodes with the same node ID remain in the CAN bus network. This reduces the costs associated with troubleshooting commissioning errors. Furthermore, it facilitates improved automatic configuration during initial installation or repairs by reducing installation effort and preventing misconfigurations. Advantageous embodiments are claimed in the dependent claims and are explained in more detail below. According to a preferred embodiment, the method may further include: generating a second modified node ID for the at least second node, assigning the second modified node ID to the at least second node based on the second serial number. This way, the second identical node ID can also be changed to a more advantageous degree. According to a preferred embodiment, the assignment may include: sending a first configuration job to the first node and the at least second node, and / or sending a second configuration job to the first node and the at least second node, wherein the first configuration job includes the first modified node ID and the first serial number, and / or wherein the second configuration job includes the second modified node ID and the second serial number. In this context, the term "configuration order" refers specifically to a message containing an instruction to change the node ID to a different node ID if a serial number included in the configuration order matches the node's serial number. The configuration order is sent by the master node. In this way, it is advantageous to request the desired node to change its node ID even if the node IDs are the same. According to a preferred embodiment, the method may further include: comparing, by the first node, of the first configuration job and / or the second configuration job, with the first serial number; changing, by the first node, the first node ID to the first changed node ID, if the first configuration job includes the first serial number. This way, the first node can advantageously correct its node ID. According to a preferred embodiment, the method may further include: comparing, by the second node, the first configuration job and / or the second configuration job with the second serial number, changing, by the second node, the second node ID to the second changed node ID if the second configuration job includes the second serial number. In this way, the second node can advantageously correct its node ID. According to a preferred embodiment, receiving the first serial number and the second serial number may include: sending the first serial number by the first node and sending the second serial number by the at least second node with a time delay to the sending of the first serial number. The time delay can be achieved, for example, via the CSMA / CR access method. In this way, a data collision can be advantageously avoided as long as the nodes all still have the same Node ID and therefore Message ID. According to a preferred embodiment, the method may further include: preventing the first node and at least the second node from sending further messages during the modification of the node ID. In this context, "further messages" refers to messages that do not arise within the scope of the above procedure. For example, the transmission of measurement data constitutes further messages. By preventing the process from running, it can be carried out more efficiently. The prevention can, for example, last until the end of the process or until a power reset of the respective node. Another aspect of the present invention relates to a device for data processing, comprising means for carrying out a method described in more detail above. The device may include hardware units. The hardware units may be implemented, for example, by processing circuits such as a processor, central processing unit (CPU), controller, arithmetic logic unit (ALU), digital signal processor, microcomputer, field-programmable gate array (FPGA), system-on-chip (SoC), programmable logic unit, or any other unit capable of responding to instructions and executing them in a defined manner. Another aspect of the present invention relates to a computer program comprising instructions which, when the program is executed by a computer, cause it to perform a method described above. Another aspect of the present invention relates to a computer-readable storage medium comprising instructions which, when executed by a computer, cause it to perform a method described above. The invention is explained below with the aid of a drawing. Figure 1 shows a flowchart of a method according to the invention, Figure 2 a CAN bus network, Figure 3 a representation of a data collision due to identical node IDs, Figure 4 a representation of communication for receiving serial numbers, and Figure 5 a representation of communication for changing the node IDs. Fig. 1 shows a flowchart of a method according to the invention for changing a node ID of a node from a plurality of nodes in a CAN bus network. Step S10 involves receiving one Node ID from each of the multitude of nodes. Step S20 involves determining a first node and at least one second node with the same node ID. Step S30 involves requesting the first node to send a first serial number and the second or at least second node to send a second serial number. Step S40 involves receiving the first serial number and the second serial number. Step S50 includes generating at least one first modified Node ID for the first node. Step S60 involves assigning at least the first changed Node ID to the first node based on the first serial number. Preferably, the method may further include: generating a second modified Node ID for the at least second Node 3, assigning the second modified Node ID to the at least second Node 3 based on the second serial number 14. Preferably, the assignment may include: sending a first configuration job to the first node and the at least second node, and / or sending a second configuration job to the first node and the at least second node, wherein the first configuration job includes the first changed node ID and the first serial number, and / or wherein the second configuration job includes the second changed node ID and the second serial number. Preferably, the method may further include: comparing, by the first node of the first configuration job and / or the second configuration job, with the first serial number; changing, by the first node, the first node ID to the first changed node ID, if the first configuration job includes the first serial number. Preferably, the method may further include: comparing, by the second node, of the first configuration job and / or the second configuration job with the second serial number, changing, by the second node, the second node ID to the second changed node ID if the second configuration job includes the second serial number. Preferably, receiving the first serial number and the second serial number can include: sending the first serial number by the first node and sending the second serial number by at least the second node with a time delay to sending the first serial number. Fig. 2 shows a CAN bus network 1 with three nodes 2, 3, and 4 and a master node 5. The three nodes 2, 3, and 4 represent, for example, measuring sensors. The master node 5 represents, for example, a maintenance laptop. The individual nodes are interconnected via a connection 6, the CAN bus. Fig. 3 shows communication over time 7 in the CAN bus network 1 for the case under consideration that all three nodes 2, 3 and 4 have the same node ID, here node ID 5. They then all send their messages 8 with the same message ID at the same time. This results in a data collision. Fig. 4 shows a time-domain communication (TDC) 7 for receiving the serial numbers of the individual nodes 2, 3, and 4 by the master node 5. The master node sends a remote frame 9 to the three nodes 2, 3, and 4. The three nodes 2, 3, and 4 then send their serial numbers 10, 14, and 15, respectively, or identifiers, to the master node 5 after a time delay. Figure 5 shows communication over time 7 for changing the node IDs of nodes 2, 3, and 4 by the master node 5. For this purpose, the master node 5 first sends an initial configuration request 11 to all three nodes 2, 3, and 4 to change the node ID. In addition to the changed node ID, the configuration request 11 contains the serial number of the first node 2 and the instruction to change the node ID to the changed node ID if the serial number matches the serial number of the other node. Node 2 has the same serial number. Therefore, it changes its node ID. The other nodes discard the configuration request. In the next step, the master node 5 sends a second configuration order 12 to all three nodes 2, 3 and 4. Besides the changed node ID, the second configuration order 12 also contains the serial number of the second node 3 and the order to change the node ID to the changed node ID if the serial number matches the serial number of the node.Node 3 has the same serial number. It therefore changes its Node ID. The other nodes reject the configuration request. In the next step, the master node 5 sends a third configuration request 13 to all three nodes 2, 3, and 4. This third configuration request 13 contains, in addition to the changed Node ID, the serial number of the first node 4 and the instruction to change the Node ID to the changed Node ID if the serial number matches the serial number of the node. Node 4 has the same serial number. It therefore changes its Node ID. The other nodes reject the configuration request. Reference symbol list 1 CAN bus network 2, 3, 4 Node 5 Master Node 6 Connection 7 Time 8 Message 9 Remote Frame 10, 14, 15 Serial number 11, 12, 13 Configuration order S10 Receive one Node ID from each of the multitude of nodes S20 Determine a first node and at least one second node with the same Node ID S30 Request the first node to send a first serial number and the second node (or at least one second node) to send a second serial number S40 Receive the first serial number and the second serial number S50 Generate a first modified Node ID for the first node S60 Assign the first modified Node ID (or at least one) to the first node based on the first serial number QUOTES INCLUDED IN THE DESCRIPTION This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature CN 109889627 A

[0003] CN 115766326 A

[0004]

Claims

Computer-implemented method for changing a node ID of a node (2, 3, 4) from a plurality of nodes (2, 3, 4) in a CAN bus network (1), comprising the steps: Receiving one node ID each from a node (2, 3, 4) of the plurality of nodes (2, 3, 4) (S10), Determining a first node (2) and at least one second node (3) with the same node ID (S20), Requesting the first node (2) to send a first serial number (10) and the at least second node (3) to send a second serial number (14) (S30), Receiving the first serial number (10) and the second serial number (14) (S40), Generating at least one first changed node ID for the first node (2), (S50), Assigning the at least first changed node ID to the first node (2) based on the first serial number (10) (S60). Method according to claim 1, characterized in that the method further comprises: generating a second modified node ID for the at least second node (3), assigning the second modified node ID to the at least second node (3) on the basis of the second serial number (14). Method according to one of the preceding claims, characterized in that the assignment comprises: sending a first configuration order (11) to the first node (2) and the at least second node (3), and / or sending a second configuration order (12) to the first node (2) and the at least second node (3), wherein the first configuration order (11) comprises the first changed node ID and the first serial number (10), and / or wherein the second configuration order (12) comprises the second changed node ID and the second serial number (14). Method according to claim 3, characterized in that the method further comprises: Comparing, by the first node (2), of the first configuration job (11) and / or of the second configuration job, with the first serial number (10), Changing, by the first node (2), the first node ID to the first changed node ID, if the first configuration job (11) includes the first serial number (10). Method according to claim 3 or 4, characterized in that the method further comprises: Comparing, by the second node (3), of the first configuration order (11) and / or of the second configuration order (12) with the second serial number (14), Changing, by the second node (3), the second node ID to the second changed node ID, if the second configuration order (12) includes the second serial number (14). Method according to one of the preceding claims, characterized in that the receiving of the first serial number (10) and the second serial number (14) comprises: sending the first serial number (10) by the first node (2) and sending the second serial number (14) by the at least second node (3) with a time delay to the sending of the first serial number (10). Method according to one of the preceding claims, characterized in that preventing the sending of further messages by the first node (2) and the at least second node (3) during the execution of the change of the node ID. Device for data processing, comprising means for carrying out a procedure according to any one of steps 1 to 7. Computer program comprising instructions which, when the program is executed by a computer, cause it to execute a method according to any one of claims 1 to 7. A computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to execute a method according to any one of claims 1 to 7.

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