1. ISO 11783 Tractor-Implement Messages
Lecture 9 Tractor-Implement Messages
ISO Part 7
BAE
Spring 2009
Instructor: Marvin Stone
Biosystems and Agricultural Engineering
Oklahoma State University
March 4, 2009
BAE

2. Message structure Parameter Groups (messages) Parameters ID(PGN)
Parm 1
Parm 2
Parm 3
Parm 4
Parm 5
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)
March 4, 2009
BAE

3. Tractor – Implement Messages: 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

4. SLOT Examples Scaling Limits Offset Transfer Function March 4, 2009
BAE

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:
March 4, 2009
BAE

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: (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
March 4, 2009
BAE

7. Transmitted signal ranges: Numeric values and strings
Range name
1 byte
2 bytes
4 bytes
ASCII
Valid signal
0 to 250
0016 to FA16
0 to
to FAFF16
0 to
to FAFFFFFF16
1 to 254
0116 to FE16
Parameter specific
indicator
251
FB16 to
FB0016 to FBFF16 to
FBxxxxxx16
None
Reserved range for
future indicator bits
252 to 253
FC16 to FD16 to
FC0016 to FDFF16 to
FC to FDFFFFFF16
Error indicator
254
FE16 to
FExx16 to
Fexxxxxx16
0016
Not available, not
installed or not
requested
255
FF16 to
FFxx16 to
FFxxxxxx16
March 4, 2009
BAE

8. Transmitted signal ranges: Boolean values
Transmitted values for discrete parameters (measured)
Transmitted values for control commands
Range name
Transmitted
value
Disabled (Off, passive, etc.) 00
Enabled (On, active, etc.) 01
Error indicator 10
Not available or not installed 11
Range name
Transmitted
value
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
March 4, 2009
BAE

9. ISO 11783 Part 7 Basic Messages
Application Layers
ISO 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 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

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
March 4, 2009
BAE

11. ISO 11783 Tractor – Implement Messages
Navigation / Location
ISO 11783 networks shall use the navigation location messages specified in IEC  (NMEA 2000). The preferred (minimum) messages for ISO 11783 are:
GNSS position (long version) (fast packet) 1 Hz, (PGN )
GNSS position (fast rate) (single frame) 10Hz, (PGN )
Position Delta, High Precision Rapid Update (single frame) 10Hz, (PGN )
Course Over Ground and Speed Over Ground   (single frame) 4 Hz, (PGN )
GNSS pseudo range noise statistics
March 4, 2009
BAE

12. ISO 11783 Tractor – Implement Messages
Time and Date
Parameter group number: (00FEE616)
Ground speed and distance traveled
Parameter group number: (00FE4916)
Wheel speed and distance traveled
Parameter group number: (00FE4816)
Power Control and implement status
Parameter group number: (00FE4716)
Rear Hitch status
Parameter group number: (00FE4516)
Rear PTO status
Parameter group number: (00FE4316)
March 4, 2009
BAE

13. ISO 11783 Tractor – Implement Messages
Hitch & PTO commands
Parameter group number: (00FE4216)
Auxiliary hydraulic valve 0 estimated flow (15)
Parameter group number: (00FE1016)
Auxiliary hydraulic valve 0 measured flow (15)
Parameter group number: (00FE2016)
Auxiliary hydraulic valve 0 commands (15)
Parameter group number: (00FE3016)
Lighting setting commands
Parameter group number: (00FE4116)
March 4, 2009
BAE

14. ISO 11783 Tractor – Implement Messages
Lighting data
Parameter group number: (00FE4016)
Language and units of measure
Parameter group number: (00FE0F16)
Working set master
Parameter group number: (00FE0D16)
Working set member
Parameter group number: (00FE0D16)
Process data message
Parameter group number: (00CB0016)
March 4, 2009
BAE

15. ISO 11783 Tractor – Implement Messages
Implement remote control command (to tractor)
Parameter group number: (00FE0B16)
Implement remote control response (from tractor)
Parameter group number: (00FE0A16)
Required tractor facilities request (to tractor)
Parameter group number: (00FE0816)
Tractor facilities response (from tractor)
Parameter group number: (00FE0916)
March 4, 2009
BAE

16. ISO 11783 Tractor – Implement Messages
Guidance system commands
Parameter group number: (00AD0016)
Guidance machine status
Parameter group number: (00AC0016)
Machine selected speed
Parameter group number: (00F02216)
Machine selected speed command
Parameter group number: (00FD4316)
ISOBUS compliance certification message
Parameter group number: 64834(00FD4216)
March 4, 2009
BAE

17. 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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BAE

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
March 4, 2009
BAE

19. Electrical Power Parameters
Key Switch State
Maximum Time (remaining) of Tractor Power
Maintain ECU Power
Maintain Actuator Power
March 4, 2009
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20. Navigational System Parameters
Use NMEA 2000 (IEC ) messages
Preferred (minimum) message set:
GNSS Position Data
GNSS High Output Position
GNSS Pesudorange Noise Statistics
March 4, 2009
BAE

21. Implement State Parameters
Implement Transport State
Implement Park State
Implement Work State
March 4, 2009
BAE

22. 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

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) v PRM
(Front / Rear) PTO economy (mode / mode command) - engine speed lower than normal PTO mode
March 4, 2009
BAE

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
March 4, 2009
BAE

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
March 4, 2009
BAE

26. Language Parameters Language code command Decimal symbol command
Date (format) command
Time (format) command
Units of measure parameter
distance
area
volume
mass
March 4, 2009
BAE

27. Repetition Rate Parameters
Request for Repetition Rate
Responses for Repetition Rate
March 4, 2009
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28. Implement Geometry: Offset Definitions
March 4, 2009
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29. Implement Geometry: Offset Definitions
March 4, 2009
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30. Calculation of Engine Parameters (Maximum Selection for Low Idle)
March 4, 2009
BAE

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
March 4, 2009
BAE

32. Powertrain control messages (simplified)
March 4, 2009
BAE

33. Powertrain messages 5.3.7 ELECTRONIC ENGINE CONTROLLER #1: EEC1
Transmission repetition rate: engine speed dependent (see )
Data length: 8 bytes
Data page: 0
PDU format: 240
PDU specific: 4
Default priority: 3
Parameter group number: 61,444 (00F00416 )
Byte: 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
March 4, 2009
BAE

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
March 4, 2009
BAE

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: Nominal friction - percent torque
2,3 Engine's desired operating speed
4 Engine's operating speed asymmetry adjustment
5-8 Not defined
March 4, 2009
BAE

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 ( )
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
March 4, 2009
BAE