ISO 11783 Tractor-Implement Messages

Lecture 9 Tractor-Implement MessagesISO 11783 Part 7BAE 5030 - 353

Spring 2009Instructor: Marvin Stone

Biosystems and Agricultural EngineeringOklahoma State University

March 4, 2009 BAE 5030-353

March 4, 2009 BAE 5030-353

Message structure

– Parameter Groups (messages) • Packaged groups of parameters that fit into one or more 8

byte CAN frames and identified by a Parameter Group Number (PGN)

– Parameters• characters (ASCII)• scaled data (numbers)• function states (on/off/error/not available)

ID(PGN) Parm 1 Parm 2 Parm 3 Parm 4 Parm 5

Tractor – Implement Messages: Message format

• Message format– Message format uses the parameter group number as the label for

a group of parameters – Each parameter within the group can be expressed as characters,

as scaled data defined by the ranges in table below or as function states consisting of one or more bits

– Characters are transmitted with the left-most character first – Numerical parameters consisting of two or more data bytes shall be

transmitted least significant byte first– Each parameter is identified as being of either the command or

measured data type – Command data specifies the desired state of a multi-state

parameter, function or numerical value of a set point as requested by a transmitting ECU

– Measured data conveys the current value of a parameter, as measured or observed by the transmitting ECU

March 4, 2009 BAE 5030-353

Scaling Limits ParameterParameter (Resolution) (Range) Offset Size

Angle/Direction 10 7 deg/bit 211 to 211.108 122 deg 210 32 bit1/128 deg/bit 200 to 301 deg 200 16 bit1/128 deg/bit 0 to 502 deg 0 16 bit

Brake Applications 1 brake appl/bit 0 to 4 227 858 431 appl 0 32 bit

Component ID 1 ID/bit 0 to 250 ID 0 8 bit

Distance 0.125 km/bit 0 to 526 385 151.9 km 0 32 bit0.125 m/bit 2500 to 2500 m 2500 16 bit

Economy, liquid 1/512 km/L per bit 0 to 125.5 km/L 0 16 bit

Economy, gaseous 1/512 km/kg per bit 0 to 125.5 km/kg 0 16 bit

Electrical Current 1 A/bit 125 to 125 A 125 8 bit1 A/bit 0 to 250 A 0 8 bit

Electrical Potential 0.05 V/bit 0 to 3212.75 V 0 16 bit

SLOT Examples

• Scaling• Limits• Offset• Transfer Function

March 4, 2009 BAE 5030-353

Parameter Example

A.19.2 Rear hitch positionMeasured position of the rear three-point hitch; it is expressed as a percentage of full travel: 0 % indicates the full down position; 100 %, the full up position.

Data length: 1 byte

Resolution: 0,4 %/bit, 0 % offset

Data range: 0 % to +100 %

Type: Measured

SPN: 1873

March 4, 2009 BAE 5030-353

Message Example

B.7 Primary or rear hitch status

Message that provides the measurement of the current rear-hitch parameters.

Transmission repetition rate: 100 ms

Data length: 8 bytes

Data page: 0

PDU format: 254

PDU specific: 69

Default priority: 3

Parameter group number: 65093 (00FE4516)

Byte 1: Rear hitch position (see A.19.2)

Byte 2: Bits 8, 7: Rear hitch in-work indication (see A.19.6)

Bits 6 to 4: Rear hitch position limit status (see A.19.12)

Bits 3 to 1: Reserved

Byte 3: Rear nominal lower link force (see A.19.10)

Bytes 4, 5: Rear draft (see A.19.8)

Bytes 6 to 8: ReservedMarch 4, 2009 BAE 5030-353

Transmitted signal ranges: Numeric values and strings

Range name 1 byte 2 bytes 4 bytes ASCII

Valid signal 0 to 2500016 to FA16

0 to 64 255000016 to FAFF16

0 to 4 211 081 2150000000016 to FAFFFFFF16

1 to 2540116 to FE16

Parameter specificindicator

251FB16

64 256 to 64 511FB0016 to FBFF16

4 211 081 216 to 4 227 858 431FBxxxxxx16

None

Reserved range forfuture indicator bits

252 to 253FC16 to FD16

64 512 to 65 023FC0016 to FDFF16

4 227 858 432 to 4 261 412 863FC00000016 to FDFFFFFF16

None

Error indicator254FE16

65 024 to 65 279FExx16

4 261 412 864 to 4 278 190 079Fexxxxxx16

00016

Not available, notinstalled or notrequested

255FF16

65 280 to 65 535FFxx16

4 278 190 080 to 4 294 967 294FFxxxxxx16

255FF16

March 4, 2009 BAE 5030-353

• Transmitted values for discrete parameters (measured)

• Transmitted values for control commands

Transmitted signal ranges: Boolean values

Range name Transmittedvalue

Command to disable function (turn Off, etc.) 00

Command to enable function (turn On, etc.) 01

Reserved 10

Don’t care/take no action (leave function as is)11

Range name Transmittedvalue

Disabled (Off, passive, etc.) 00

Enabled (On, active, etc.) 01

Error indicator 10

Not available or not installed 11

March 4, 2009 BAE 5030-353

Application Layers

• ISO 11783 Part 7 Basic Messages• Time/Date• Ground Speed, Distance• Three Point Hitch, Auxillary Valves, PTO• Navigation/GPS (Refers to NMEA)• Power Keep-Alive• Lighting• Tractor control• Compliance

• ISO 11783 Part 8 = SAE J1939/71– Broad vehicle info and control messages

• Engine/Transmission/Braking/Ipanel• Speed/Temperatures/Pressures• etc. ( ~200+ pages)

March 4, 2009 BAE 5030-353

March 4, 2009 BAE 5030-353

ISO 11783 Part 7 Basic Messages

Message Title Typical SourceTime and Date Tractor ECUWheel Based Speed and Distance Tractor ECUGround Based Speed and Distance Tractor ECUGPS Position and Status data GPS/Navigation ECUAttitude (Bearing, Pitch, Roll, Altitude) GPS/Navigation ECUHitch Status (Position and Draft) Tractor ECUPower Takeoff Status Tractor ECUAuxiliary Valve Status Tractor ECUHitch and PTO Commands Implement ECUAuxiliary Valve Commands Implement ECULighting Tractor ECUProcess Data Task Controller/Implement ECUECU Power Status and Extension Tractor/Implement ECU

ISO 11783 Tractor – Implement Messages

Navigation / Location

ISO 11783 networks shall use the navigation location messages specified in IEC 61162-3 (NMEA 2000). The preferred (minimum) messages for ISO 11783 are:

GNSS position (long version) (fast packet) 1 Hz, (PGN 129029) GNSS position (fast rate) (single frame) 10Hz, (PGN 129025) Position Delta, High Precision Rapid Update (single frame) 10Hz,

(PGN 129207) Course Over Ground and Speed Over Ground   (single frame) 4 Hz,

(PGN 129026) GNSS pseudo range noise statistics

March 4, 2009 BAE 5030-353

ISO 11783 Tractor – Implement Messages

Time and Date Parameter group number: 65254 (00FEE616)

Ground speed and distance traveled Parameter group number: 65097 (00FE4916)

Wheel speed and distance traveled Parameter group number: 65096 (00FE4816)

Power Control and implement status Parameter group number: 65095 (00FE4716)

Rear Hitch status Parameter group number: 65093 (00FE4516)

Rear PTO status Parameter group number: 65091 (00FE4316)

March 4, 2009 BAE 5030-353

ISO 11783 Tractor – Implement Messages

Hitch & PTO commands Parameter group number: 65090 (00FE4216)

Auxiliary hydraulic valve 0 estimated flow (15) Parameter group number: 65040 (00FE1016)

Auxiliary hydraulic valve 0 measured flow (15) Parameter group number: 65056 (00FE2016)

Auxiliary hydraulic valve 0 commands (15) Parameter group number: 65072 (00FE3016)

Lighting setting commands Parameter group number: 65089 (00FE4116)

March 4, 2009 BAE 5030-353

ISO 11783 Tractor – Implement Messages

Lighting data Parameter group number: 65088 (00FE4016)

Language and units of measure

Parameter group number: 65039 (00FE0F16)

Working set master Parameter group number: 65037 (00FE0D16)

Working set member Parameter group number: 65036 (00FE0D16)

Process data message Parameter group number: 51968 (00CB0016)

March 4, 2009 BAE 5030-353

ISO 11783 Tractor – Implement Messages

Implement remote control command (to tractor) Parameter group number: 65035 (00FE0B16)

Implement remote control response (from tractor) Parameter group number: 65034 (00FE0A16)

Required tractor facilities request (to tractor) Parameter group number: 65032 (00FE0816)

Tractor facilities response (from tractor) Parameter group number: 65033 (00FE0916)

March 4, 2009 BAE 5030-353

ISO 11783 Tractor – Implement Messages

Guidance system commands Parameter group number: 44288 (00AD0016)

Guidance machine status Parameter group number: 44032 (00AC0016)

Machine selected speed Parameter group number: 61474 (00F02216)

Machine selected speed command Parameter group number: 64835 (00FD4316)

ISOBUS compliance certification message Parameter group number: 64834(00FD4216)

March 4, 2009 BAE 5030-353

Time / Date

– Time (local) - seconds, minutes, hours

– Date - day, month, year

– Existing J1939/71 PGN except local minute & hour offset are not supported

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March 4, 2009 BAE 5030-353

Speed, Distance, and Direction

• Ground-based Parameters– Ground-based implement speed– Ground-based driven distance– Ground-based driven direction

• Wheel-based Parameters– Wheel-based implement speed– Wheel-based driven distance– Wheel-based driven direction

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Electrical Power Parameters

– Key Switch State– Maximum Time (remaining) of Tractor Power– Maintain ECU Power– Maintain Actuator Power

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Navigational System Parameters

– Use NMEA 2000 (IEC 61162-3) messages– Preferred (minimum) message set:

• GNSS Position Data• GNSS High Output Position• GNSS Pesudorange Noise Statistics

March 4, 2009 BAE 5030-353

Implement State Parameters

– Implement Transport State– Implement Park State– Implement Work State

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Hitch Parameters

– (Front / Rear) Hitch (Position / Position Command)– (Front / Rear) Hitch In-Work Indication– (Front / Rear) Draft– (Front / Rear) nominal lower link force

March 4, 2009 BAE 5030-353

PTO Parameters

– (Front / Rear) PTO output shaft (speed / speed set point / set point command)

– (Front / Rear) PTO (engagement / engagement command)– (Front / Rear) PTO (mode / mode command) - 540 v. 1000

PRM– (Front / Rear) PTO economy (mode / mode command) -

engine speed lower than normal PTO mode

March 4, 2009 BAE 5030-353

Auxiliary Valve Parameters

– Auxiliary valve number (range: 0-63)– (Extend / Retract) port (measured / estimated / commanded)

flow– Valve float (enable / enable command)– (Extend / Retract / Return) port pressure– Nominal Implement Position

March 4, 2009 BAE 5030-353

Lighting Parameters

– Head Light (High / Low) Beam– Alternate Head Light– Work Lights command– (Left / Right) Turn Signal Lights– (Left / Right / Center) Stop Light– (Left / Right / Center) Marker Light– Rotating Beacon Light– (Front / Rear) Fog Lights– Reversing Lights

March 4, 2009 BAE 5030-353

Language Parameters

– Language code command– Decimal symbol command– Date (format) command– Time (format) command– Units of measure parameter

• distance• area• volume• mass

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Repetition Rate Parameters

– Request for Repetition Rate – Responses for Repetition Rate

MountingReferencePoint (MRP)

ToolReferencePoint (TRP)

NRRP_Y

MRP_X (Tractor)

Implement Working Width

ToolSpacing1

ToolCentreDistance1

SectionCentreDistance1

SectionWorkingWidth1

NRRP_XNavigational Y Axis (positive direction)

ImplementReferencePoint (IRP)

Navigational X Axis (positive direction)

ImplementReferencePoint (IRP)

MRP_X (Implement)

NavigationReceiverReferencePoint(NRRP)

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Implement Geometry: Offset Definitions

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NRRP_Z

NavigationReceiverReferencePoint (NRRP)

NRRP_X

NavigationalX Axis

Navigational Z Axis (positive direction)

ImplementReferencePoint (IRP)

MRP_Z (Implement)

MRP_Z (Tractor)

ToolReferencePoint (TRP)

MRP_X (Implement)

MRP_X (Tractor)

MountingReferencePoint (MRP)

ImplementReferencePoint (IRP)

TRP_Z

TRP_X

NRRP_X

Implement Geometry: Offset Definitions

March 4, 2009 BAE 5030-353

Calculation of Engine Parameters(Maximum Selection for Low Idle)

Accelerator Pedal

Driver Input

Cruise ControlPTO Govenor

Road SpeedGovenor

Idle Govenor(Inc. Frictional

Loss)

Full Load GovenorSmoke Control

Loss Torque ofthe Engine and

Accessories

ControlMode

PowertrainDemand %Torque

MinMin MaxMax

Nominal Friction%Torque

DriversDemandEngine

%TorqueEngine's DesiredOperating Speed

ActualEngine

%Torque

Torque Speed Control Message

Overide Control Mode Priority

Control ModesNormalSpeed ControlTorque ControlSpeed/Torque Limit Control(Speed and speed limit controlare not shown in this figure

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Engine control information

• Four primary engine internal signals are transmitted to the network:

• Driver’s demand engine - percent torque• Actual engine - percent torque• Nominal friction - percent torque• Engine's desired operating speed

• Two transmission control commands are sent to the engine

• Requested speed/Speed limit• Requested torque/Torque limit

March 4, 2009 BAE 5030-353

Powertrain control messages(simplified)

Engine

Transmission

EEC#1

EngineRetarder

EEC#2

EEC#3

TSC#1

TSC#1

BrakingERC#1

March 4, 2009 BAE 5030-353

Powertrain messages

5.3.7 ELECTRONIC ENGINE CONTROLLER #1: EEC1Transmission repetition rate: engine speed dependent (see 5.1.7.2)Data length: 8 bytesData page: 0PDU format: 240PDU specific: 4Default priority: 3Parameter group number: 61,444 (00F00416 )Byte: 1 Status_EEC1 Bit: 8-5 Not defined

4-1 Engine/retarder torque mode2 Driver’s demand engine - percent torque3 Actual engine - percent torque4,5 Engine speed6 Source address of controlling device for engine control7-8 Not defined

Powertrain messages

March 4, 2009 BAE 5030-353

5.3.6 ELECTRONIC ENGINE CONTROLLER #2: EEC2Transmission repetition rate: 50 msData length: 8 bytesData page: 0PDU format: 240PDU specific: 3Default priority: 3Parameter group number: 61,443 (00F00316 )Byte: 1 Status_EEC2 Bit: 8-7 Not defined

6,5 Road speed limit status4,3 AP kickdown switch2,1 AP low idle switch

2 Accelerator pedal (AP) position3 Percent load at current speed4 Remote accelerator5-8 Not defined

March 4, 2009 BAE 5030-353

Powertrain messages

5.3.13 ELECTRONIC ENGINE CONTROLLER #3: EEC3Transmission repetition rate: 250 msData length: 8 bytesData page: 0PDU format: 254PDU specific: 223Default priority: 6Parameter group number: 65,247 (00FEDF16 )Byte: 1 Nominal friction - percent torque

2,3 Engine's desired operating speed4 Engine's operating speed asymmetry adjustment5-8 Not defined

March 4, 2009 BAE 5030-353

Powertrain messages

5.3.1 TORQUE/SPEED CONTROL #1: TSC1Transmission repetition rate: when active; 10 ms to the engine - 50 ms to the retarder

Data length: 8 bytesData page: 0PDU format: 0PDU specific: Destination addressDefault priority: 3Parameter group number: 0 (00000016 )Byte: 1 Control bits Bit: 8-7 Not defined

6,5 Override control mode priority4,3 Requested speed control conditions2,1 Override control modes

2,3 Requested speed/Speed limit 4 Requested torque/Torque limit5-8 Not defined