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ISO 11783 Tractor-Implement Messages

ISO 11783 Tractor-Implement Messages. Lecture 9 Tractor-Implement Messages ISO 11783 Part 7 BAE 5030 - 353 Spring 2009 Instructor: Marvin Stone Biosystems and Agricultural Engineering Oklahoma State University. Message structure. Parameter Groups (messages)

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ISO 11783 Tractor-Implement Messages

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  1. ISO 11783 Tractor-Implement Messages Lecture 9 Tractor-Implement Messages ISO 11783 Part 7 BAE 5030 - 353 Spring 2009 Instructor: Marvin Stone Biosystems and Agricultural Engineering Oklahoma State University BAE 5030-353

  2. 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 BAE 5030-353

  3. 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 BAE 5030-353

  4. SLOT Examples • Scaling • Limits • Offset • Transfer Function BAE 5030-353

  5. Parameter Example A.19.2 Rear hitch position Measured 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 BAE 5030-353

  6. 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: Reserved BAE 5030-353

  7. Transmitted signal ranges: Numeric values and strings BAE 5030-353

  8. Transmitted signal ranges: Boolean values • Transmitted values for discrete parameters (measured) • Transmitted values for control commands BAE 5030-353

  9. 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) BAE 5030-353

  10. ISO 11783 Part 7 Basic Messages Message Title Typical Source Time and Date Tractor ECU Wheel Based Speed and Distance Tractor ECU Ground Based Speed and Distance Tractor ECU GPS Position and Status data GPS/Navigation ECU Attitude (Bearing, Pitch, Roll, Altitude) GPS/Navigation ECU Hitch Status (Position and Draft) Tractor ECU Power Takeoff Status Tractor ECU Auxiliary Valve Status Tractor ECU Hitch and PTO Commands Implement ECU Auxiliary Valve Commands Implement ECU Lighting Tractor ECU Process Data Task Controller/Implement ECU ECU Power Status and Extension Tractor/Implement ECU BAE 5030-353

  11. 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 BAE 5030-353

  12. 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) BAE 5030-353

  13. 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) BAE 5030-353

  14. 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) BAE 5030-353

  15. 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) BAE 5030-353

  16. 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) BAE 5030-353

  17. Time / Date • Time (local) - seconds, minutes, hours • Date - day, month, year • Existing J1939/71 PGN except local minute & hour offset are not supported BAE 5030-353

  18. 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 BAE 5030-353

  19. Electrical Power Parameters • Key Switch State • Maximum Time (remaining) of Tractor Power • Maintain ECU Power • Maintain Actuator Power BAE 5030-353

  20. 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 BAE 5030-353

  21. Implement State Parameters • Implement Transport State • Implement Park State • Implement Work State BAE 5030-353

  22. Hitch Parameters • (Front / Rear) Hitch (Position / Position Command) • (Front / Rear) Hitch In-Work Indication • (Front / Rear) Draft • (Front / Rear) nominal lower link force BAE 5030-353

  23. 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 BAE 5030-353

  24. 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 BAE 5030-353

  25. 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 BAE 5030-353

  26. Language Parameters • Language code command • Decimal symbol command • Date (format) command • Time (format) command • Units of measure parameter • distance • area • volume • mass BAE 5030-353

  27. Repetition Rate Parameters • Request for Repetition Rate • Responses for Repetition Rate BAE 5030-353

  28. Implement Geometry: Offset Definitions BAE 5030-353

  29. Implement Geometry: Offset Definitions BAE 5030-353

  30. Calculation of Engine Parameters(Maximum Selection for Low Idle) BAE 5030-353

  31. 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 BAE 5030-353

  32. Powertrain control messages(simplified) BAE 5030-353

  33. Powertrain messages 5.3.7 ELECTRONIC ENGINE CONTROLLER #1: EEC1 Transmission repetition rate: engine speed dependent (see 5.1.7.2) Data length: 8 bytes Data page: 0 PDU format: 240 PDU specific: 4 Default priority: 3 Parameter group number: 61,444 (00F00416 ) Byte: 1 Status_EEC1 Bit: 8-5 Not defined 4-1 Engine/retarder torque mode 2 Driver’s demand engine - percent torque 3 Actual engine - percent torque 4,5 Engine speed 6 Source address of controlling device for engine control 7-8 Not defined BAE 5030-353

  34. Powertrain messages 5.3.6 ELECTRONIC ENGINE CONTROLLER #2: EEC2 Transmission repetition rate: 50 ms Data length: 8 bytes Data page: 0 PDU format: 240 PDU specific: 3 Default priority: 3 Parameter group number: 61,443 (00F00316 ) Byte: 1 Status_EEC2 Bit: 8-7 Not defined 6,5 Road speed limit status 4,3 AP kickdown switch 2,1 AP low idle switch 2 Accelerator pedal (AP) position 3 Percent load at current speed 4 Remote accelerator 5-8 Not defined BAE 5030-353

  35. Powertrain messages 5.3.13 ELECTRONIC ENGINE CONTROLLER #3: EEC3 Transmission repetition rate: 250 ms Data length: 8 bytes Data page: 0 PDU format: 254 PDU specific: 223 Default priority: 6 Parameter group number: 65,247 (00FEDF16 ) Byte: 1 Nominal friction - percent torque 2,3 Engine's desired operating speed 4 Engine's operating speed asymmetry adjustment 5-8 Not defined BAE 5030-353

  36. Powertrain messages 5.3.1 TORQUE/SPEED CONTROL #1: TSC1 Transmission repetition rate: when active; 10 ms to the engine - 50 ms to the retarder Data length: 8 bytes Data page: 0 PDU format: 0 PDU specific: Destination address Default priority: 3 Parameter group number: 0 (00000016 ) Byte: 1 Control bits Bit: 8-7 Not defined 6,5 Override control mode priority 4,3 Requested speed control conditions 2,1 Override control modes 2,3 Requested speed/Speed limit 4 Requested torque/Torque limit 5-8 Not defined BAE 5030-353

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