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ISO 11783 Tractor-Implement Messages Lecture 9 Tractor-Implement Messages ISO 11783 Part 7 BAE 5030 - 353 Spring 2009 Instructor: Marvin Stone Biosystems.

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Presentation on theme: "ISO 11783 Tractor-Implement Messages Lecture 9 Tractor-Implement Messages ISO 11783 Part 7 BAE 5030 - 353 Spring 2009 Instructor: Marvin Stone Biosystems."— Presentation transcript:

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 March 4, 2009BAE 5030-353

2 March 4, 2009BAE 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 1Parm 2Parm 3Parm 4Parm 5

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 March 4, 2009BAE 5030-353

4 SLOT Examples Scaling Limits Offset Transfer Function March 4, 2009BAE 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 March 4, 2009BAE 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 March 4, 2009BAE 5030-353

7 Transmitted signal ranges: Numeric values and strings Range name1 byte2 bytes4 bytesASCII Valid signal 0 to 250 00 16 to FA 16 0 to 64 255 0000 16 to FAFF 16 0 to 4 211 081 215 00000000 16 to FAFFFFFF 16 1 to 254 01 16 to FE 16 Parameter specific indicator 251 FB 16 64 256 to 64 511 FB00 16 to FBFF 16 4 211 081 216 to 4 227 858 431 FBxxxxxx 16 None Reserved range for future indicator bits 252 to 253 FC 16 to FD 16 64 512 to 65 023 FC00 16 to FDFF 16 4 227 858 432 to 4 261 412 863 FC000000 16 to FDFFFFFF 16 None Error indicator 254 FE 16 65 024 to 65 279 FExx 16 4 261 412 864 to 4 278 190 079 Fexxxxxx 16 0 00 16 Not available, not installed or not requested 255 FF 16 65 280 to 65 535 FFxx 16 4 278 190 080 to 4 294 967 294 FFxxxxxx 16 255 FF 16 March 4, 2009BAE 5030-353

8 Transmitted values for discrete parameters (measured) Transmitted values for control commands Transmitted signal ranges: Boolean values Range nameTransmitted 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 Range nameTransmitted value Disabled (Off, passive, etc.) 00 Enabled (On, active, etc.) 01 Error indicator 10 Not available or not installed 11 March 4, 2009BAE 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) March 4, 2009BAE 5030-353

10 March 4, 2009BAE 5030-353 ISO 11783 Part 7 Basic Messages Message TitleTypical Source Time and DateTractor ECU Wheel Based Speed and DistanceTractor ECU Ground Based Speed and DistanceTractor ECU GPS Position and Status dataGPS/Navigation ECU Attitude (Bearing, Pitch, Roll, Altitude)GPS/Navigation ECU Hitch Status (Position and Draft)Tractor ECU Power Takeoff StatusTractor ECU Auxiliary Valve StatusTractor ECU Hitch and PTO CommandsImplement ECU Auxiliary Valve CommandsImplement ECU LightingTractor ECU Process DataTask Controller/Implement ECU ECU Power Status and ExtensionTractor/Implement ECU

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 March 4, 2009BAE 5030-353

12 ISO 11783 Tractor – Implement Messages  Time and Date  Parameter group number:65254 (00FEE6 16 )  Ground speed and distance traveled  Parameter group number:65097 (00FE49 16 )  Wheel speed and distance traveled  Parameter group number:65096 (00FE48 16 )  Power Control and implement status  Parameter group number:65095 (00FE47 16 )  Rear Hitch status  Parameter group number:65093 (00FE45 16 )  Rear PTO status  Parameter group number:65091 (00FE43 16 ) March 4, 2009BAE 5030-353

13 ISO 11783 Tractor – Implement Messages  Hitch & PTO commands  Parameter group number:65090 (00FE42 16 )  Auxiliary hydraulic valve 0 estimated flow (15)  Parameter group number:65040 (00FE10 16 )  Auxiliary hydraulic valve 0 measured flow (15)  Parameter group number:65056 (00FE20 16 )  Auxiliary hydraulic valve 0 commands (15)  Parameter group number:65072 (00FE30 16 )  Lighting setting commands  Parameter group number:65089 (00FE41 16 ) March 4, 2009BAE 5030-353

14 ISO 11783 Tractor – Implement Messages  Lighting data  Parameter group number:65088 (00FE40 16 )  Language and units of measure  Parameter group number:65039 (00FE0F 16 )  Working set master  Parameter group number:65037 (00FE0D 16 )  Working set member  Parameter group number:65036 (00FE0D 16 )  Process data message  Parameter group number:51968 (00CB00 16 ) March 4, 2009BAE 5030-353

15 ISO 11783 Tractor – Implement Messages  Implement remote control command (to tractor)  Parameter group number:65035 (00FE0B 16 )  Implement remote control response (from tractor)  Parameter group number:65034 (00FE0A 16 )  Required tractor facilities request (to tractor)  Parameter group number:65032 (00FE08 16 )  Tractor facilities response (from tractor)  Parameter group number:65033 (00FE09 16 ) March 4, 2009BAE 5030-353

16 ISO 11783 Tractor – Implement Messages  Guidance system commands  Parameter group number:44288 (00AD00 16 )  Guidance machine status  Parameter group number:44032 (00AC00 16 )  Machine selected speed  Parameter group number:61474 (00F022 16 )  Machine selected speed command  Parameter group number:64835 (00FD43 16 )  ISOBUS compliance certification message  Parameter group number:64834(00FD42 16 ) March 4, 2009BAE 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 March 4, 2009BAE 5030-353

18 March 4, 2009BAE 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

19 March 4, 2009BAE 5030-353 Electrical Power Parameters –Key Switch State –Maximum Time (remaining) of Tractor Power –Maintain ECU Power –Maintain Actuator Power

20 March 4, 2009BAE 5030-353 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

21 March 4, 2009BAE 5030-353 Implement State Parameters –Implement Transport State –Implement Park State –Implement Work State

22 March 4, 2009BAE 5030-353 Hitch Parameters –(Front / Rear) Hitch (Position / Position Command) –(Front / Rear) Hitch In-Work Indication –(Front / Rear) Draft –(Front / Rear) nominal lower link force

23 March 4, 2009BAE 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

24 March 4, 2009BAE 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

25 March 4, 2009BAE 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

26 March 4, 2009BAE 5030-353 Language Parameters –Language code command –Decimal symbol command –Date (format) command –Time (format) command –Units of measure parameter distance area volume mass

27 March 4, 2009BAE 5030-353 Repetition Rate Parameters –Request for Repetition Rate –Responses for Repetition Rate

28 March 4, 2009BAE 5030-353 Implement Geometry: Offset Definitions

29 March 4, 2009BAE 5030-353 Implement Geometry: Offset Definitions

30 March 4, 2009BAE 5030-353 Calculation of Engine Parameters (Maximum Selection for Low Idle)

31 March 4, 2009BAE 5030-353 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

32 March 4, 2009BAE 5030-353 Powertrain control messages (simplified)

33 March 4, 2009BAE 5030-353 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 (00F004 16 ) 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

34 Powertrain messages March 4, 2009BAE 5030-353 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 (00F003 16 ) 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

35 March 4, 2009BAE 5030-353 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 (00FEDF 16 ) Byte: 1 Nominal friction - percent torque 2,3 Engine's desired operating speed 4 Engine's operating speed asymmetry adjustment 5-8 Not defined

36 March 4, 2009BAE 5030-353 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 (000000 16 ) 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


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