1、BSI Standards PublicationBS ISO 11783-14:2013Tractors and machinery foragriculture and forestry Serial control andcommunications data networkPart 14: Sequence controlBS ISO 11783-14:2013 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO11783-14:2013.The UK partic
2、ipation in its preparation was entrusted to TechnicalCommittee AGE/6, Agricultural tractors and forestry machinery.A list of organizations represented on this committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contract.
3、Users are responsible for its correctapplication. The British Standards Institution 2013. Published by BSI StandardsLimited 2013ISBN 978 0 580 64937 0ICS 35.240.99; 65.060.01Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the
4、authority of theStandards Policy and Strategy Committee on 30 September 2013.Amendments issued since publicationDate Text affectedBS ISO 11783-14:2013 ISO 2013Tractors and machinery for agriculture and forestry Serial control and communications data network Part 14: Sequence controlTracteurs et matr
5、iels agricoles et forestiers Rseaux de commande et de communication de donnes en srie Partie 14: Contrle de squenceINTERNATIONAL STANDARDISO11783-14First edition2013-09-15Reference numberISO 11783-14:2013(E)BS ISO 11783-14:2013ISO 11783-14:2013(E)ii ISO 2013 All rights reservedCOPYRIGHT PROTECTED DO
6、CUMENT ISO 2013All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission c
7、an be requested from either ISO at the address below or ISOs member body in the country of the requester.ISO copyright officeCase postale 56 CH-1211 Geneva 20Tel. + 41 22 749 01 11Fax + 41 22 749 09 47E-mail copyrightiso.orgWeb www.iso.orgPublished in SwitzerlandBS ISO 11783-14:2013ISO 11783-14:2013
8、(E) ISO 2013 All rights reserved iiiContents PageForeword ivIntroduction v1 Scope . 12 Normative references 13 Terms and definitions . 14 Technical requirements 44.1 General . 44.2 Sequence control user interface . 54.3 Working sets with master/member configuration 94.4 Sequence management functiona
9、lity 94.5 Error handling 304.6 Communication strategy . 32Annex A (normative) Sequence control data definition 33Annex B (normative) Message definition .41Annex C (normative) Technical data messages 42Annex D (normative) SCD operation messages 45Annex E (normative) Sequence control messages .53Annex
10、 F (normative) Status messages .61Bibliography .65BS ISO 11783-14:2013ISO 11783-14:2013(E)ForewordISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out
11、 through ISO technical committees. Each member body interested in a subject for which a technical committee has been established has the right to be represented on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in the work. ISO col
12、laborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.The procedures used to develop this document and those intended for its further maintenance are described in the ISO/IEC Directives, Part 1. In particular the different appro
13、val criteria needed for the different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2. www.iso.org/directivesAttention is drawn to the possibility that some of the elements of this document may be the subject
14、of patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of any patent rights identified during the development of the document will be in the Introduction and/or on the ISO list of patent declarations received. www.iso.org/patentsAny trade name used
15、 in this document is information given for the convenience of users and does not constitute an endorsement.For an explanation on the meaning of ISO specific terms and expressions related to conformity assessment, as well as information about ISOs adherence to the WTO principles in the Technical Barr
16、iers to Trade (TBT) see the following URL: Foreword - Supplementary informationThe committee responsible for this document is ISO/TC 23, Tractors and machinery for agriculture and forestry, Subcommittee SC 19, Agricultural electronics.ISO 11783 consists of the following parts, under the general titl
17、e Tractors and machinery for agriculture and forestry Serial control and communications data network: Part 1: General standard for mobile data communication Part 2: Physical layer Part 3: Data link layer Part 4: Network layer Part 5: Network management Part 6: Virtual terminal Part 7: Implement mess
18、ages application layer Part 8: Power train messages Part 9: Tractor ECU Part 10: Task controller and management information system data interchange Part 11: Mobile data element dictionary Part 12: Diagnostics services Part 13: File server Part 14: Sequence controliv ISO 2013 All rights reservedBS IS
19、O 11783-14:2013ISO 11783-14:2013(E)IntroductionISO 11783 specifies a communications system for agricultural equipment based on the ISO 11898-1 protocol. SAE J1939 1documents, on which parts of ISO 11783 are based, were developed jointly for use in truck and bus applications and for construction and
20、agriculture applications. Joint documents were completed to allow electronic units that meet the truck and bus SAE J1939 specifications to be used by agricultural and forestry equipment with minimal changes.General information on ISO 11783 is to be found in ISO 11783-1. The purpose of ISO 11783 is t
21、o provide an open, interconnected system for on-board electronic systems. It is intended to enable electronic control units (ECUs) to communicate with each other, providing a standardized system.The International Organization for Standardization (ISO) draws attention to the fact that it is claimed t
22、hat compliance with this part of ISO 11783 may involve the use of a patent concerning the controller area network (CAN) protocol referred to throughout the document.ISO takes no position concerning the evidence, validity and scope of this patent.The holder of this patent has assured ISO that he is w
23、illing to negotiate licences under reasonable and non-discriminatory terms and conditions with applicants throughout the world. In this respect, the statement of the holder of this patent right is registered with ISO. Information may be obtained from:Robert Bosch GmbHWernerstrasse 51Postfach 30 02 2
24、0D-70442 Stuttgart-FeuerbachGermanyAttention is drawn to the possibility that some of the elements of this part of ISO 11783 may be the subject of patent rights other than those identified above. ISO shall not be held responsible for identifying any or all such patent rights. ISO 2013 All rights res
25、erved vBS ISO 11783-14:2013BS ISO 11783-14:2013Tractors and machinery for agriculture and forestry Serial control and communications data network Part 14: Sequence control1 ScopeISO 11783 as a whole specifies a serial data network for control and communications on forestry or agricultural tractors,
26、mounted, semi-mounted, towed or self propelled implements. Its purpose is to standardize the method and format of transfer of data between sensors, actuators, control elements, information storage and display units whether mounted, or part of the tractor or any implement.This part of ISO 11783 speci
27、fies a sequence control system, such as a headland management system, which includes tractor and implement functions in one system. The system allows recording of multiple sequences of operator-activated functions from a tractor or any other control function on the ISO 11783 network, and replaying t
28、hem on operator command.2 Normative referencesThe following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced docume
29、nt (including any amendments) applies.ISO 11783-1, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 1: General standard for mobile data communicationISO 11783-3, Tractors and machinery for agriculture and forestry Serial control and communicatio
30、ns data network Part 3: Data link layerISO 11783-5, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 5: Network managementISO 11783-6, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 6: Vir
31、tual terminal3 Terms and definitionsFor the purposes of this document, the terms and definitions given in ISO 11783-1 and ISO 11783-3 and the following apply.3.1aborthalt the sequence play back and immediately stop all motion initiated during the sequenceEXAMPLE The hitch stops at the current positi
32、on.3.2active sequence control mastersequence control master selected by the operator to control the sequence control systemNote 1 to entry: Only one sequence control master (SCM) is permitted to be active at any time.INTERNATIONAL STANDARD ISO 11783-14:2013(E) ISO 2013 All rights reserved 1BS ISO 11
33、783-14:2013ISO 11783-14:2013(E)3.3cancelprematurely stop sequence recording3.4client commandaction that is communicated by the sequence control client during recording and executed by the sequence control client if received during the play back of a sequenceEXAMPLE Start power take-off (PTO), stop P
34、TO, open baler rear gate, close baler rear gate, sprayer master valve on, sprayer master valve off.3.5client functionmechanic, hydraulic or electric function of the tractor or implement that may be engaged/disengaged, started/stopped or changed by an operator action and may accept commands from the
35、sequence control master during sequence play backEXAMPLE PTO, hitch, auxiliary valves, baler rear gate, sprayer master valve.3.6disabled sequence control clientsequence control client that does not respond to state changes of the active sequence control master and therefore does not participate in s
36、equence play back and recording3.7enabled sequence control clientsequence control client that has been selected by the active sequence control master to participate in sequence play back and recording3.8graphical representation objectobject of the SCCWSs (sequence control client working set) object
37、pool that is suitable to be referenced by SCD (sequence control data definition) objects in cases where the SCM (sequence control master) is required to display graphical information about the SCC (sequence control client), a client function or a function stateEXAMPLE A Picture Graphic object, a Rec
38、tangle object or a Polygon object would be suitable to be referenced by the Graphical representation attribute of an SCD state object.3.9inactive sequence control mastersequence control master connected to the system but not controlling the sequence control system3.10safe stateoperating mode of a sy
39、stem with an acceptable level of risk for operator or bystander even when the control system fails or partly fails3.11sequence control clientSCCcontrol functions connected to the ISO 11783 network that provide client functions which may be used for sequence controlNote 1 to entry: The operator is ab
40、le to activate these client functions manually by inputs such as the user interface soft keys, physical buttons or auxiliary control.Note 2 to entry: The tractor may identify itself as SCC with its client functions, SCM or as both.2 ISO 2013 All rights reservedBS ISO 11783-14:2013ISO 11783-14:2013(E
41、)3.12sequence control client working setSCCWSworking set as defined in ISO 11783-6, where either the working set master and/or one or more working set members act as SCC3.13sequence control data definitionSCDset of objects describing the recordable functions transferred by sequence control clients t
42、o the sequence control master including the function IDs, state IDs, preferred trigger method, icons for the visualization and function name for each of the functions supportedNote 1 to entry: Details are defined in Annex A.3.14sequence control masterSCMcontroller of the sequence control system that
43、 initiates the recording and play back phase of sequences and stores the client commands received from the sequence control clients during recording with one of its provided trigger points3.15sequence control master object poolSCMOPVT (virtual terminal) object pool sent by the SCM providing the user
44、 interface for the interaction of the operator with the SCMNote 1 to entry: VT and object pools are discussed in ISO 11783-63.16sequence control client object poolSCCOPVT object pool sent by the SCCWS containing at least all the objects required by the SCM to display information from the SCCs SCD pr
45、operly on the VTNote 1 to entry: These objects are usually referenced in the SCMOP.Note 2 to entry: VT and object pools are discussed in ISO 11783-6.3.17sequence control sequenceSCSset of functions and/or actions performed by one or more sequence control clients in the system during the recording ph
46、ase, including the related trigger information for the activation of the functions3.18sequence control systemSCsystem with an SCM and one or more SCC performing the sequence control functionality as described in this part of ISO 117833.19sequence control triggermethod to activate SCC functions in a
47、sequence control sequenceEXAMPLE 1 For a time trigger, the SCM uses the time between two function activations of the sequence, independent of the distance driven as the method of a functions activation.EXAMPLE 2 For a distance trigger, the SCM uses the distance driven between the activation of two f
48、unctions as the method of a functions activation. ISO 2013 All rights reserved 3BS ISO 11783-14:2013ISO 11783-14:2013(E)3.20sequence numbernumber which uniquely identifies the sequence(s) in the SC communication, allowing the use of multiple sequences within one systemEXAMPLE The SCM supports one se
49、quence for entering the headland (sequence number = 1) and one for leaving the headland (sequence number = 2).3.21textual representation objectobject of the SCCWSs object pool that is suitable to be referenced by SCD objects in cases where the SCM needs to display textual information about the SCC, a client function or a function stateEXAMPLE An Output String object would be suitable to be referenced by the Designator attribute of an SCD.3.22transaction numberTANmethod to synchronize the command and response
