1、BSI Standards PublicationBS ISO 11783-7:2015Tractors and machinery foragriculture and forestry Serial control andcommunications data networkPart 7: Implement messages applicationlayerBS ISO 11783-7:2015 BRITISH STANDARDNational forewordThis British Standard is the UK implementation of ISO 11783-7:20
2、15.It supersedes BS ISO 11783-7:2009 which is withdrawn.The UK participation in its preparation was entrusted to TechnicalCommittee AGE/6, Agricultural tractors and forestry machinery.A list of organizations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 do
3、es not purport to include all the necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Standards Institution 2015. Published by BSI StandardsLimited 2015ISBN 978 0 580 75624 5ICS 35.100.70; 35.240.99; 65.060.01Compliance with a British Standard cannot conf
4、er immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 30 April 2015.Amendments issued since publicationDate Text affectedBS ISO 11783-7:2015 ISO 2015Tractors and machinery for agriculture and forestry Serial control
5、 and communications data network Part 7: Implement messages application layerTracteurs et matriels agricoles et forestiers Rseaux de commande et de communication de donnes en srie Partie 7: Couche dapplication de baseINTERNATIONAL STANDARDISO11783-7Third edition2015-03-15Reference numberISO 11783-7:
6、2015(E)BS ISO 11783-7:2015ISO 11783-7:2015(E)ii ISO 2015 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2015All 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 photo
7、copying, or posting on the internet or an intranet, without prior written permission. Permission can 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
8、-mail copyrightiso.orgWeb www.iso.orgPublished in SwitzerlandBS ISO 11783-7:2015ISO 11783-7:2015(E) ISO 2015 All rights reserved iiiContents PageForeword ivIntroduction vi1 Scope . 12 Normative references 13 General requirements and recommendations 23.1 General . 23.2 Signal characterization 23.3 Me
9、ssage format 23.4 Implement configuration offsets . 5Annex A (normative) Parameter definitions 6Annex B (normative) Parameter groups . 121Annex C (informative) Tractor control messages Examples 175Annex D (informative) Implement control of tractor facilities Control implementation .184Bibliography .
10、 185BS ISO 11783-7:2015ISO 11783-7:2015(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 through ISO technical committees. Each member b
11、ody 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 collaborates closely with the International Electro
12、technical 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 approval criteria needed for the different types of I
13、SO documents should be noted. This document was drafted in accordance with the editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO shall not be held re
14、sponsible 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 (see www.iso.org/patents).Any trade name used in this document is information giv
15、en 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 Barriers to Trade (TBT) see the followin
16、g 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.This third edition cancels and replaces the second edition (ISO 11783-7:2009) which has been technica
17、lly revised.ISO 11783 consists of the following parts, under the general title 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 lay
18、er Part 5: Network management Part 6: Virtual terminal Part 7: Implement messages 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
19、13: File serveriv ISO 2015 All rights reservedBS ISO 11783-7:2015ISO 11783-7:2015(E) Part 14: Sequence control ISO 2015 All rights reserved vBS ISO 11783-7:2015ISO 11783-7:2015(E)IntroductionISO 11783 specifies a communications system for agricultural equipment based on the ISO 11898-11protocol. SAE
20、 J19392documents, on which parts of ISO 11783 are based, were developed jointly for use in truck and bus applications and for construction and agriculture applications. Joint documents were completed to allow electronic units that meet the truck and bus SAE J1939 specifications to be used by agricul
21、tural 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 to provide an open, interconnected system for on-board electronic systems. It is intended to enable electronic control units (ECUs) to communicate with each o
22、ther, providing a standardized system.The International Organization for Standardization (ISO) draws attention to the fact that it is claimed that 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 d
23、ocument.ISO takes no position concerning the evidence, validity and scope of this patent.The holder of this patent has ensured ISO that he is willing to negotiate licences under reasonable and non-discriminatory terms and conditions with applicants throughout the world. In this respect, the statemen
24、t of the holder of this patent right is registered with ISO. Information may be obtained from:Robert Bosch GmbHWernerstrasse 51Postfach 30 02 20D-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 rig
25、hts other than those identified above. ISO shall not be held responsible for identifying any or all such patent rights.vi ISO 2015 All rights reservedBS ISO 11783-7:2015INTERNATIONAL STANDARD ISO 11783-7:2015(E)Tractors and machinery for agriculture and forestry Serial control and communications dat
26、a network Part 7: Implement messages application layerSAFETY PRECAUTIONS Caution is to be taken with any automatic control of implements carried out using a message defined in this part of ISO 11783. See ISO 11783-9 for safe-mode operations.1 ScopeISO 11783 as a whole specifies a serial data network
27、 for control and communications on forestry or agricultural tractors and 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 and information storage and display units, whether
28、mounted on, or part of, the tractor or implement. This part of ISO 11783 describes the implement messages application layer of the network, specifying the message set and defining the messages used for communication with and between tractors and connected implements.2 Normative referencesThe followi
29、ng 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 document (including any amendments) applies.ISO 639 (all parts)
30、, Codes for the representation of names of languagesISO 11783-1:2007, 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 contr
31、ol and communications 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
32、network Part 6: Virtual terminalISO 11783-9, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 9: Tractor ECUISO 11783-10, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 10: Task controller
33、 and management information system data interchangeISO 11783-12, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 12: Diagnostics servicesIEC 61162-3, Maritime navigation and radio communication equipment and systems Digital interfaces Part 3: S
34、erial data instrument network ISO 2015 All rights reserved 1BS ISO 11783-7:2015ISO 11783-7:2015(E)3 General requirements and recommendations3.1 GeneralThe message set specified by this part of ISO 11783 is designed to support the basic needs of an implement for information from a tractor, as well as
35、 limited controls enabling coordination between implement and tractor. The message set supports messages containing information on time, ground speed, distance, navigation, PTO (power take-off) parameters, three-point hitch, general process data, and lighting function parameters.Some of the messages
36、 are regularly repeated at fixed intervals and others are transmitted upon request only. The specific transmission requirements for each message are defined in Annex B.The message parameters are defined in Annex A; the parameter groups are specified in Annex B.See Annex C for examples of tractor con
37、trol messages.3.2 Signal characterizationThe ISO 11783 network has been designed with the intent of providing current data from a control function (CF) that is located in an electronic control unit (ECU) to, and for use by, other CFs that are located in the same or in other ECUs on the network. ISO
38、11783-1 lists the definitions of the CF and ECU terms.It is recommended that the time between physical data acquisition of a signal and the transmission of the data not exceed twice the repetition rate defined for the data.3.3 Message format3.3.1 GeneralThe ISO 11783 network message format uses the
39、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 given in 3.3.3, or as function states consisting of one or more bits. Characters are transmitted with the left-most character first.Nume
40、rical parameters consisting of two or more data bytes shall be transmitted least significant byte first. When a parameter is placed in more than one byte because of its location in the data field, the least significant bits (Lsb) of the parameter are placed in the least significant byte with the rem
41、aining most significant bits (Msb) placed in the next higher byte starting at the first bit. See Figure 1.2 ISO 2015 All rights reservedBS ISO 11783-7:2015ISO 11783-7:2015(E)Datab5 b4 b3 b2 b1MsbLsbPlacement(Big Endian)MsbByte 8Lsb MsbByte 7Lsb8 765432187654321b5 b4 b3 b2 b1MsbLsba) Data parameter o
42、f less than one byte crossing a byte boundaryDatab10 b9 b8 b7 b6 b5 b4 b3 b2 b1MsbLsbPlacement(Big Endian)MsbByte 2Lsb MsbByte 1Lsb8765432187654321b10 b9 b8 b7 b6 b5 b4 b3 b2 b1MsbLsbb) Data parameter larger than one byte ending on a byte boundaryDatab12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1MsbLsbPlace
43、ment(Big Endian)MsbByte 8Lsb MsbByte 7Lsb8765432187654321b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1MsbLsbc) Data parameter larger than one byte starting on a byte boundaryFigure 1 Placement of data parameters in more than one byte3.3.2 Data typesEach parameter is identified as being of either the comman
44、d or measured data type. CommandCommand data specifies the desired state of a multistate parameter, function or numerical value of a set point as requested by a transmitting CF. Specific confirmation of a command is not necessarily ISO 2015 All rights reserved 3BS ISO 11783-7:2015ISO 11783-7:2015(E)
45、ensured. For example, the command may request that a solenoid be activated, yet no measurement be taken to ensure the solenoid has accomplished its function.The tractor is not expected to automatically execute any given command. Commands for control affect the change or introduction of motion or pow
46、er into the system, and may be issued in parallel with other commands from within various tractor systems. Each command must be considered with other tractor controls and operating conditions, and only executed if the tractor control system considers it to be appropriate.EXAMPLE 1 Engage PTO, extend
47、 auxiliary valve state, activate headlight high-beam, move rear hitch. MeasuredMeasured data conveys the current value of a parameter, as measured or observed by the transmitting CF, determining the condition of the defined parameter.EXAMPLE 2 Ground-based speed, hitch position, PTO engagement, impl
48、ement in-work state.3.3.3 Parameter rangesTable 1 defines the ranges used to determine the validity of a transmitted signal, Table 2 those ranges used to denote the state of a discrete parameter, and Table 3 those used to denote the state of a control mode command. The values in the range “error ind
49、icator” provide the means for a CF to immediately indicate that valid parametric data are not currently available due to some type of error in the sensor, subsystem or CF.If a CF failure prevents transmission of valid data for a parameter, the appropriate error indicator given in Tables 1 or 2 shall be used in place of that parameters data. However, if the measured or calculated data has yielded a value that is valid, yet which exceeds the defined parameter range, the erro
