1、raising standards worldwideNO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBSI Standards PublicationBS ISO 11783-9:2012Tractors and machinery foragriculture and forestry Serial control andcommunications data networkPart 9: Tractor ECUBS ISO 11783-9:2012 BRITISH STANDARDNational
2、 forewordThis British Standard is the UK implementation of ISO 11783-9:2012.It supersedes BS ISO 11783-9:2002 which is withdrawn.The UK participation in its preparation was entrusted to TechnicalCommittee AGE/6, Agricultural tractors and forestry machinery.A list of organizations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
3、 committee can beobtained on request to its secretary.This publication does not purport to include all the necessaryprovisions of a contract. Users are responsible for its correctapplication. The British Standards Institution 2012. Published by BSI StandardsLimited 2012ISBN 978 0 580 67821 9ICS 35.2
4、40.99; 65.060.01Compliance with a British Standard cannot confer immunity fromlegal obligations.This British Standard was published under the authority of theStandards Policy and Strategy Committee on 29 February 2012.Amendments issued since publicationDate Text affectedBS ISO 11783-9:2012 ISO 2012T
5、ractors and machinery for agriculture and forestry Serial control and communications data network Part 9: Tractor ECUTracteurs et matriels agricoles et forestiers Rseaux de commande et de communication de donnes en srie Partie 9: Unit de commande lectronique du tracteurINTERNATIONAL STANDARDISO11783
6、-9Second edition2012-02-01Reference numberISO 11783-9:2012(E)BS ISO 11783-9:2012ISO 11783-9:2012(E)ii ISO 2012 All rights reservedCOPYRIGHT PROTECTED DOCUMENT ISO 2012All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any mean
7、s, electronic or mechanical, including photocopying and microfilm, without permission in writing 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 copyrightis
8、o.orgWeb www.iso.orgPublished in SwitzerlandBS ISO 11783-9:2012ISO 11783-9:2012(E) ISO 2012 All rights reserved iiiContents PageForeword ivIntroduction v1 Scope 12 Normative references . 13 Terms and definitions . 24 Description and specifications 24.1 Ports 24.2 Functions and parameter repackaging
9、. 24.3 Identity association . 34.4 Classification and minimum supported message sets . 34.5 Control of lighting . 94.6 Control of ECU_PWR and PWR .104.7 Safe-mode operation 14Bibliography .18BS ISO 11783-9:2012ISO 11783-9:2012(E)ForewordISO (the International Organization for Standardization) is a w
10、orldwide federation of national standards bodies (ISO member bodies). The work of preparing International Standards is normally carried out 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
11、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 Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.International Standards are drafted
12、 in accordance with the rules given in the ISO/IEC Directives, Part 2.The main task of technical committees is to prepare International Standards. Draft International Standards adopted by the technical committees are circulated to the member bodies for voting. Publication as an International Standar
13、d requires approval by at least 75 % of the member bodies casting a vote.ISO 11783-9 was prepared by Technical Committee ISO/TC 23, Tractors and machinery for agriculture and forestry, Subcommittee SC 19, Agricultural electronics.This second edition cancels and replaces the first edition (ISO 11783-
14、9:2002), which has been technically 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: Dat
15、a link layer Part 4: Network layer 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 Par
16、t 12: Diagnostics services Part 13: File server Part 14: Sequence controliv ISO 2012 All rights reservedBS ISO 11783-9:2012ISO 11783-9:2012(E)IntroductionParts 1 to 14 of ISO 11783 specify a communications system for agricultural equipment based on the ISO 11898-11protocol. SAE J19392documents, on w
17、hich 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 agricultural and forestry equ
18、ipment 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 other, providing a stan
19、dardized 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 document.ISO takes no p
20、osition concerning the evidence, validity and scope of this patent.The holder of this patent has assured 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 statement of the holder of thi
21、s 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 rights other than that th
22、ose identified above. ISO shall not be held responsible for identifying any or all such patent rights. ISO 2012 All rights reserved vBS ISO 11783-9:2012BS ISO 11783-9:2012Tractors and machinery for agriculture and forestry Serial control and communications data network Part 9:Tractor ECU1 ScopeISO 1
23、1783 as a whole specifies a serial data network 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 sensor, actuators, control elements and i
24、nformation-storage and display units, whether mounted on, or part of, the tractor or implement. This part of ISO 11783 describes the Tractor ECU (TECU), the control function (CF) that provides the gateway between the networks tractor and implement buses, as well as performing other functions.New req
25、uirements in this second edition are specified as version 2 TECUs and Working Sets.NOTE The Tractor ECU is also the control function (CF) that represents the tractor, or analogous functions within self-propelled machines, for functions such as the virtual terminal on the implement bus.2 Normative re
26、ferencesThe following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.ISO 11783-1, Tractors and machinery for ag
27、riculture and forestry Serial control and communications data network Part 1: General standard for mobile data communicationISO 11783-2, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 2: Physical layerISO 11783-4, Tractors and machinery for ag
28、riculture and forestry Serial control and communications data network Part 4: Network 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
29、 control and communications data network Part 6: Virtual terminalISO 11783-7, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 7: Implement messages application layerISO 11783-8, Tractors and machinery for agriculture and forestry Serial control
30、 and communications data network Part 8: Power train messagesISO 11783-10, Tractors and machinery for agriculture and forestry Serial control and communications data network Part 10: Task controller and management information system data interchangeISO 11786, Agricultural tractors and machinery Trac
31、tor-mounted sensor interface SpecificationsISO 16154, Tractors and machinery for agriculture and forestry Installation of lighting, light signalling and marking devices for travel on public roadwaysINTERNATIONAL STANDARD ISO 11783-9:2012(E) ISO 2012 All rights reserved 1BS ISO 11783-9:2012ISO 11783-
32、9:2012(E)3 Terms and definitionsFor the purposes of this document, the terms and definitions given in ISO 11783-1 apply.4 Description and specifications4.1 Ports4.1.1 GeneralOn a system with an ISO 11783 network, the Tractor ECU functions as the gateway (see ISO 11783-4) between the tractor and impl
33、ement buses.The Tractor ECU shall have at least one port for connection to the implement bus. However, when the tractor has both an implement and a tractor bus, the Tractor ECU shall have two ports the Tractor ECU implement bus port and the Tractor ECU tractor bus port.4.1.2 Port referencingFor comm
34、unication network references to either of a Tractor ECUs ports, port 1 shall be used as the implement bus port; port 2 shall be used as the tractor bus port, where a tractor bus is installed.See ISO 11783-4:2011, Figure 1.4.1.3 Port physical layerThe implement bus port of the Tractor ECU shall be de
35、signed so that it can connect to the physical layer specified in ISO 11783-2. The tractor bus port may connect to another physical layer, but the ISO 11783 physical layer is recommended.NOTE Throughout this part of ISO 11783, it is assumed that both ports have been designed for the ISO 11783 physica
36、l layer.4.2 Functions and parameter repackaging4.2.1 GeneralAs the CF representing the tractor and its messages on the implement bus, the Tractor ECU is responsible for the communications between the tractor and the other CFs on that bus; to this end, it shall appear to the system to be the same as
37、any other CF on the implement bus. Particularly important is that the tractors access to the virtual terminal (VT) (see ISO 11783-6) be identical to that of any other implement. The Tractor ECU is also responsible, as part of its network interconnect functions, for converting to and from any impleme
38、nt bus, processing data and tractor bus messages with appropriate parameters, in order that the tractor can operate on a process data message in a classification-appropriate manner. The Tractor ECU exhibits the behaviour of a gateway and/or router, depending on the type(s) of networks to which it is
39、 connected.4.2.2 Messages from the tractor bus to the implement busThe Tractor ECU shall collect from the tractor bus, or directly wired sensors such as those specified in ISO 11786, all information contained within messages identified by a particular classification. It shall then redirect this data
40、 in the messages specified for its class on the implement bus using its own specific source address (SA), while establishing specific destinations for specific messages. When the Tractor ECU places requested information on the implement bus, it should use the global destination in order to reduce ba
41、ndwidth in cases where there are multiple requests for the same information (and also to reduce filter database requirements in the Tractor ECU).2 ISO 2012 All rights reservedBS ISO 11783-9:2012ISO 11783-9:2012(E)To minimize bandwidth usage on the implement bus, data which is sent in PGs by a Tracto
42、r ECU that is of interest to a task controller are not to be duplicated in a Process Data message. ISO 11783-10 allows data to be received by a Task Controller via PGs and this method is to be utilized for any data that is already sent in a standard PG by the Tractor ECU.4.2.3 Messages from the impl
43、ement bus to the tractor busThe Tractor ECU shall receive from the implement bus all messages designed to control tractor functions, including process data, as appropriate for the classification.The Tractor ECU shall then parse these messages in a manner appropriate to the tractor design.It shall th
44、en redirect them, globally or to the specific controlling destinations, on the tractor bus and using its own specific SA.4.2.4 Messages from the Tractor ECU to the implement busThe Tractor ECU may originate destination-specific messages on the implement bus representing the tractor as any other CF o
45、n the implement bus.EXAMPLE Placing a tractor performance screen on the VT.4.3 Identity associationTractors shall have the same access to implement bus services (e.g. VT, task controllers, management computer gateway) as that possessed by the implement CFs. To avoid these services requiring two diff
46、erent network drivers, one for the implement bus and another for the tractor bus, the grouping as members of the tractor set of the CFs on the tractor bus shall be structured by the Tractor ECU analogous to the grouping of the CFs by an implement CF or a working set master.4.4 Classification and min
47、imum supported message sets4.4.1 GeneralFor the identification of a tractor on the implement bus by Tractor ECU NAME, see ISO 11783-1; for NAME fields, see ISO 11783-5.4.4.2 Tractorimplement interface classifications4.4.2.1 GeneralA tractor class defines a minimum set of messages a Tractor ECU provi
48、des on the implement bus to connected implement CFs. There are three main tractorimplement interface classes for a tractor with an ISO 11783 bus system which are defined in subsequent clauses as classes 1, 2 and 3. To enable it to use a specific numbered classification, the Tractor ECU shall acknowl
49、edge all the messages in each of the three classes of interface given in 4.4.2.2 to 4.4.2.4. A tractor can maintain a classification when a required feature is physically missing from the tractor (i.e. if a rear hitch or PTO is not installed). In this case, the Tractor ECU shall respond with message parameters set to “not available” for those parameters associated with the missing features. If the data or controls required for producing the messages are missing when the feature is i
