This is not a peer-reviewed article.

Pp. 1-17 in ISO 11783: An Electronic Communications Protocol for Agricultural Equipment:
ASAE Distinguished Lecture # 23, Agricultural Equipment Technology Conference, 7-10
February 1999, Louisville, Kentucky USA. M.L. Stone, K.D. McKee, C.W. Formwalt and R.K.
Benneweis, ASAE Publication Number 913C1798

ISO 11783:
AN ELECTRONIC
COMMUNICATIONS PROTOCOL
FOR AGRICULTURAL EQUIPMENT
Marvin L. Stone
Professor, Oklahoma State University

Kevin D. McKee
Manager, Electronics Systems Integration, Case Corp.

C. William Formwalt
Sr. Project Engineer, Deere and Co.

Robert K. Benneweis
Project Manager, Electronics, Flexi-Coil Ltd.

For presentation at the Agricultural Equipment Technology Conference

Louisville, Kentucky
7-10 February 1999

Published by
ASAE the Society for engineering in agricultural, food, and biological systems
2950 Niles Road, St. Joseph, MI 49085-9659 USA

The Lecture Series has been developed by the Power and Machinery
Division Tractor Committee (PM-47) of ASAE to provide in-depth
design resource information for engineers in the agricultural
industry. Topics shall be related to the power plant, power train,
hydraulic system, and chassis components such as operator
environment, tires, and electrical equipment for agricultural or
industrial tractors or self-propelled agricultural equipment.

ASAE is grateful to Deere & Co. for sponsoring the A S A E

Distinguished Lecture Series
 Table of Contents

Introduction ........................................................................................................................6

History ................................................................................................................................6

ISO 11783 Overview ..........................................................................................................8

Components........................................................................................................................9

Wiring and Connectors (the Physical Layer).................................................................9

Message Structure (the Data Link Layer) 29 Bit CAN ..........................................11

Interconnection Structure (the Network Layer)...........................................................11

Addressing, NAMEing, and Initialization ...................................................................12

Virtual Terminal ...........................................................................................................12

Task Controlling ..........................................................................................................12

Tractor and Tractor ECU Messages.............................................................................14

Messages on the Tractor Bus .......................................................................................14

Diagnostics ..................................................................................................................14

Design Strategies for Implementation of ISO 11783 .......................................................14

Fault Management .......................................................................................................15

Electromagnetic Compatibility....................................................................................16

Future................................................................................................................................16

References ........................................................................................................................17
 ISO 11783: AN ELECTRONIC COMMUNICATIONS PROTOCOL
FOR AGRICULTURAL EQUIPMENT

D
uring the past decade, manufacture rs of Electronic communications require significantly more
agricultural equipment have increasingly turned s t a n d a rdization than was needed in earlier tra c t o r
to electronics to provide products with improved implement interface standards. Not only must the physical
functionality, productivity, and performance to compatibility be addressed, but compatibility in the way
customers. Electronic content in agricultural equipment information is communicated must be addressed. To
has increased. A natural consequence of adding electronic communicate ground speed for example, connectors,
components to agricultural equipment has been realization wiring, voltage and current levels, and the methods of
of the advantages of allowing the components to signaling information must be compatible. Information can
communicate. A hitch controller on a tractor, for example, then be communicated, but agreement must also exist with
may communicate with a transmission and engine regard to the encoding of the information and the definition
controller to allow optimized performance. Electronic of the information. With ground speed, the units of
communications can be used to coordinate machine measurement, precision, definition, and frequency of
components, allow information to be shared among measurement must be agreed upon for it to be interpreted.
components of a machine, and allow control systems to be An impact of standardizing a communication protocol for
distributed across components of a machine. The cost of agricultural equipment is also to standardize the definitions
adding communications is a small part of the cost of stand- and re p resentations of variables associated with
alone electronics, but may add significantly to the agricultural equipment.
f u n c t i o n a l i t y, pro d u c t i v i t y, and performance of the The rapid development of interest in precision farming
machine. has also increased the need for a standardized electronics
The interface between tractor and implement required communications protocol. Precision farming systems imply
s i g n i ficant standardization with development of gathering of information which characterizes soils and
standardized PTOs, hydraulic connections, and three-point crops and use of that information as feedback to better
hitches. This standardization enabled equipment designed manage application of fertilizers and chemicals, and to
by various manufacturers to be used together. Addition of adjust cultural practices. Communications between
electronics to agricultural machines has created a similar equipment opera t o rs and implements and between
requirement and need for additional standardization. A management information systems (MIS) (generally office or
requirement for communications between implements and home computers in the context of current precision farming
tractor mounted displays and other tractor mounted systems) and field implements are essential functions in
components underscores the need for a standardized precision farming systems. Elements of these systems
electronics communication protocol. The trend toward include operator displays or terminals and an interface
increasing use of out-sourcing in agricultural equipment which allows MIS data to be communicated to and from
manufacturing is also a factor in the need for a standard implements. These elements are typically located in the cab
communication protocol. Components added to equipment of a tractor or combine harvester and must have a
f rom diff e rent OEM manufacture rs must also inter- communications link to implements or other components of
communicate. Without a standardized communications the machine. Standardized representation of variables
p rotocol, OEM suppliers must build to satisfy the associated with the equipment is necessary. A standardized
proprietary protocols of each manufacturer. The cost electronic communications protocol is needed and can be
savings of common components and software would be lost the same protocol as that used among other parts of the
without a standardized communications protocol. machine.
ISO 11783 is a new standard for electro n i c s
communications protocol for agricultural equipment. This
standard has been developed to meet the needs for
This ASAE Distinguished Lecture Series was prepared and presented electronic communication between tractor and implements,
at the Agricultural Equipment Technology Conference, 7-10 February,
1999, Louisville, Kentucky, by Marvin L. Stone , ASAE Member
between components within tractors, within implements,
Engineer, Oklahoma State University, Stillwater, Okla.; Kevin D. and within other self-propelled agricultural machines.
McKee , Case Corp., Burr Ridge, Ill.; C. William Formwalt, ASAE Support for precision farming applications have also been
Member Engineer, Deere and Co., Moline, Ill.; and Robert K. built into the standard. Definition and support exists for
Benneweis, ASAE Member Engineer, Flexi-Coil Ltd., Saskatoon, SK, operator interfaces, and communications with an off-board
Canada. For additional information, correspondence may be directed to:
Marvin L. Stone, 231 Ag Hall, Oklahoma State University, Stillwater, management information system.
OK, 74078, phone: 405.744.4337, fax: 405.744.6059, e-mail: The purpose of this article is to provide an introduction
<mstone@master.ceat.okstate.edu>. to ISO 11783. Some background and history of the

ASAE DISTINGUISHED L ECTURE S ERIES NO. 23 FEBRUARY 1999 5

standards development is provided. Critical design issues
associated with implementation of ISO 11783 are
reviewed. In addition some example information regarding
ISO 11783 designs is provided, and some speculation is
included regarding future applications of ISO 11783.

INTRODUCTION
Information display and control systems have evolved
throughout the development of agricultural equipment. Figure 1Multiplexed wiring
.
Adjustment and control of the equipment to suit crop needs
is an essential function. Mechanical control and display ISO 11783 standardizes a multiplex wiring system as
systems have been integral to agricultural equipment and described above, based on the Controller Area Network
continue to provide function today. An example is in (CAN) protocol developed by Bosch (Bosch, 1991). This
ground driven seed metering systems on seed drills and protocol uses a prioritized arbitration process to allow
planters. As more capabilities have been added to messages access to the bus. When two messages are sent at
agricultural equipment, additional control systems have the same time, their identifiers are imposed bit-serially
been added to allow regulation of these capabilities. The onto the bus. The bus must be designed to allow dominant
addition of hydraulic three-point hitch systems for bits to overwhelm recessive bits when both are applied
example, was accompanied by controls and information simultaneously by different ECUs on the bus. No conflict
display systems for hitch height. Electronics have been occurs as long as the ECUs are sending the same bits, but
added to agricultural equipment primarily to augment both when one sends a recessive bit while the other sends a
control and display capabilities. Electronic engine controls dominant bit, the bus state is dominant. The ECU sending
have been added to control fuel systems and provide the recessive bit must sense the bus is at a dominant state
i m p r oved engine effi c i e n cy and reduced emissions. when the bit was sent and must cease transmitting the
Similarly, electronic transmission controls allow improved message at that time and retry the next time the bus
control over shifting. becomes idle. This strategy allows more dominant
A natural consequence of adding electronic controls to identifiers, those with a lower value, to have a higher
the engine, transmission, and other machine components is priority on the bus. To allow this feature to work properly,
the need for communication between the controllers. CAN synchronizes messages at the beginning of each
Torque and speed information is needed by the transmission to assure bits are aligned. The result is that
transmission for shifting, and fueling commands are ISO 11783 provides a communication system where ECUs
needed by the engine to allow shifting. Concurrently, share a communications link, and messages at any point in
display of engine and transmission status to the operator is time are allowed access to the bus based on their priority.
required. A central control unit could be used but wiring Adoption of multiplexed wiring opens many
would be complex, reliability compromised, and opportunities with regard to coordination of control
computational capability inadequate. An alternative systems on-board agricultural equipment. Once multiplex
strategy currently in use is to distribute each of the wiring systems are available, the cost to share most
controllers to service the function they control. This information among controllers becomes very low. The
simplifies development, allows cost effective performance, limiting constraint is the volume of information that may
and can simplify wiring harnesses, but presents the be shared, given the communications bus has limited
problem of intercommunication between controllers. capacity.
Tractor to implement communications are a case where
wiring is significantly simplified by using distributed
controllers. Controllers on-board an implement and the HISTORY
display and MIS interfaces in a tractor are naturally Multiplexed wiring systems based on proprietary
distributed. A communications link among implement and designs have been used in agricultural equipment for many
tractor mounted electronic control units (ECUs) which years. Early examples include the Chrysler Collision
spans the hitch from tractor to implements is necessary and Detection (CCD) based network used on Deere equipment.
should minimize the number of wires that must cross the The Deere 7000 series tractor introduced in 1992
hitch. incorporates a network which may have as many as five
Multiplex wiring has evolved to accommodate cost ECUs controlling various aspects of the tractor. Deere has
effective communications among ECUs. In this wiring used this network in various types of their equipment. New
scheme, a single pair of wires, a bus, is shared among Holland reported use of a CAN based network on their
controllers and used to carry logical 1 and 0 signals or Genesis series tractors in 1994 (Young, 1994). Genesis
bits as shown in figure 1. Groups of bits are sent as uses four ECUs to handle the right hand console,
messages with the first bits of the message forming an instrument cluster, transmission control, and draft control.
identifier for the message. The protocol embedded into the Caterpillars Challenger 75 and 85 series tractors
ECUs requires the ECU to check the bus to assure no other includes an SAE J1587 data link (Lubbering and Smith,
ECU is using it before transmitting. The strategy works 1993). Early applications of networks in implements have
because enough free time exists on the bus for all of the also been reported. Flexi-Coil reported the use of an SAE
ECUs to pass their messages without significant delays. 1708 based network on their air seeder monitor and control
system in 1993 (Weisberg et al., 1993). Flexi-Coils system

6 ASAE DISTINGUISHED LECTURE SERIES NO. 23 FEBRUARY 1999

included a cab and remote implement ECUs with particular, the task force was well aware of the developing
provisions for as many as 18 ECUs. The application of SAE J1939 standard and was committed to developing an
network based control systems for product application was ISO proposal that would be compatible with SAE J1939.
patented by Ag-Chem Equipment Company Inc. in 1995 The Con. Ag. Multiplexing Task Force focused efforts on
(Monson et al., 1995) and was later introduced in their development of a proposal for a serial communications
Falcon series application systems. protocol standard. The task force hired consultants,
The potential that exists for beneficial application of gathered the appropriate information, and produced a draft
networks in agricultural equipment was recognized at proposal by summer 1992. The Con. Ag. Multiplex Task
ASAE in the mid 1980s (Bernard, 1986; Searcy and Force sought compatibility with SAE J1939 and was
Schueller, 1986; Artman, 1986; Stone, 1987). At that time accepted as a Task Force of the SAE Truck and Bus
the same authors also recognized the critical need for Electronics and Control Subcommittee (the developers of
standardizing communications interfaces for agricultural SAE J1939) in June 1992.
equipment. The catalyst that eventually focused The ISO working group initially met in February, 1991,
standardization activity within North American industry and began work on an interim connector standard (ISO
were the efforts within Germany to create an international 11786). By February 1992, significant discussion of an
standard for an agricultural equipment communications agricultural data bus had begun and at that time the
network. By mid 1988, a committee in Germany formed working group agreed to adopt the use of CAN 2.0b, a
under the LAV (German Farm Machinery and Tractor recently introduced CAN specification. By summer 1992,
Association) and selected CAN version 1 as a basis for a proposals from the UK, the US, and Germany were being
new standardized agricultural bus, LBS (Auernhammer, considered by the working group.
1983). The DIN 9684 data bus system (LBS) development Since 1992, ISO TC23/SC19/WG1 has continued
efforts were reported by Schueller at ASAE in 1988 development of the communications protocol standard
(Schueller, 1988). By 1991, the development work in (ISO 11783). The standard now consists of 10 parts, which
Germany was well along and Germany had requested that specify various aspects of the network as identified in
ISO begin an effort to standardize an agricultural bus table 1.
system. Drafts of the five part DIN 9684 were made The various parts of ISO 11783 are derived from SAE
available to ISO TC23/SC19 (Technical Committee 23 J1939, DIN 9684 or have been developed within the
Tractors and Machinery for Agriculture and Forestry, working group (WG1) as shown in table 2. ISO 11783
Subcommittee 19 Agricultural Electronics) in October relies on SAE J1939 derived components for the basic
1991. Subcommittee 19 was newly formed in early 1991 communications structure with applications largely derived
and included a working group, WG1, with a work item to from DIN 9684. Some components of the standard are
focus on development of a standard for a data bus being developed wholly within the working group rather
system. than being drafted at DIN, ASAE, or SAE. This process,
In North America in early 1991, a combined group was while requiring large amounts of the working groups time,
organized to represent agricultural equipment industries, diminishes the time required to convince working group
composed of the ASAE 353/1 subcommittee (Mobile members to adopt a particular national standard and then
Communications Systems), and the SAE ORMTC/SC32 adapt that standard to all members needs.
subcommittee (Off-Road Machinery Te c h n i c a l Many of the changes and new requirements developed
Committee/Electronic Control and Monitoring Systems) within the working group regarding DIN 9684 and SAE
coordinated through the Equipment Manufa c t u r e r s J1939 have been passed back to the respective national
Institute (EMI). This group eventually named itself the groups and have resulted in modification of both standards.
Construction and Agriculture Multiplexing Task Force. The elements of DIN 9684 and of SAE J1939 that are
The Con. Ag. Multiplexing Task Force charged itself to being used in ISO 11783 have now been balloted and
develop a serial communications protocol standard that published by their respective standards organizations. Both
would meet the needs of North American agricultural and standards are documented in the literature; SAE J1939 by
construction equipment manufacturers and to conform to Stepper (Stepper, 1993; Stepper et al., 1995) and DIN 9684
and/or influence the developing ISO and SAE standards. In by KTBL (KTBL, 1983). Currently, all documents within

Table 1. ISO 11783 documents and their scope

ISO
11783
Part Title Scope
1 General standard Provides an overview of the standard and describes how the parts are used together.
2 Physical layer Specifies the wiring, connectors, and the physical representation of signals on the bus.
3 Data link layer Specifies the way information is structured in CAN message frames and specifies methods for transmitting
messages longer than a CAN message frame.
4 Network layer Specifies how multiple sub-networks may be interconnected.
5 Network management Specifies methods for initialization, and a method for unique naming of computers within the network.
6 Virtual terminal Specifies a device which may be used by an operator to interact with computers on the network.
7 Basic implement messages Defines messages that may be used in tractor / implement communication
8 Drivetrain / application layer Defines messages that may be used throughout a vehicle and contains messages for drivetrain control.
9 Tractor ECU Defines the functions of a tractor on the network and communications between drivetrain components on the
network and implements
10 Task controller & manage- Specifies communications within a management computer between a task controller interface and applications
ment computer interface software.

ASAE DISTINGUISHED L ECTURE SERIES NO. 23 FEBRUARY 1999 7

 Table 2. ISO 11783 document
elationships
r and status
ISO Primary Current ISO Planned ISO
11783 Document SAE J1939 or Status and Status and
Part Title Source DIN 9684 Title Date Schedule
1 General standard WG1 Base level document Working draft Committee draft, Spring 99
1 General standard WG1 Construction and agriculture
base level document
2 Physical layer WG1 Physical layer, twisted quad Draft international standard
(1997)
2 Physical layer SAE J1939-13 Diagnostic connector
3 Data Link layer SAE J1939-21 Data link layer International standard (1997)
4 Network layer SAE J1939-31 Network layer Draft international standard
(1997)
5 Network management SAE J1939-81 Network management Draft international standard
(1997)
6 Virtual terminal DIN 9684 Virtual terminal Working draft Committee draft, Fall 98
7 Basic implement messages WG1 - Working draft Committee draft, Fall 98
8 Drivetrain / application layer SAE J1939-71 Applications layer Working draft Committee draft, Fall 98
9 Tractor ECU WG1 - Working draft Committee draft, Spring 99
10 Task controller & management
computer interface DIN 9684 Management computer interface Working draft Committee draft, Spring 99

ISO 11783 are scheduled to be passed forward to SC19 by systems that are partially compliant. Examples of systems
the end of 1999 at which point the final balloting process currently on the market are the Case MX series Magnum
will begin. tractor, Flexi-Coils FlexControl seeder and sprayer
Related work is underway at the A g r i c u l t u r a l controllers, and Deeres Greenstar Precision Farming
Electronics Association. This association was created in System.
1995 and includes a Software and Information Systems
Council that has been working on exchange of
computerized agricultural data, particularly agricultural ISO 11783 OVERVIEW
data with spatial content. They have created guidelines for ISO 11783 has been written to support applications of
exchange of yield data, soil fertility data, and application networks in agricultural equipment. The scope of the ISO
planning data between precision farming applications. This committee responsible for the standard includes forestry
work is related to the Task Controller & Management equipment, but does not include construction equipment.
Computer Interface, Part 10 of the ISO 11783 standard. The standard could be applied more broadly, but no
ISO 11783 Part 10 defines the data format for exchange of specific support beyond agricultural applications has been
information between precision farming application provided. The standard supports application on both self-
software and task controller interface software as shown in propelled systems and in tractor-implement systems. A
figure 2. tractor-implement model is assumed throughout the
Equipment based ISO 11783 requirements has begun to documents, with the recognition that the same or a simpler
appear on the market. The equipment in general can not design can be used in self-propelled systems. Figure 3
advertise full 11783 compliance until the standard is shows in schematic form a simplified ISO 11783 Network
complete, but some parts of the standard are complete. superimposed on an agricultural tractor and implement
Most parts are now near completion, allowing proprietary background. A network with no master controller has been
defined. The network is composed of two communication
busses, a Tractor Bus and an Implement Bus. The
Implement Bus spans the tractor, crosses the hitch, and
spans implements. The implement is shown in this
schematic with an implement sub-network. The busses are
interconnected with network interconnection ECUs, the
Tractor ECU and an ECU labeled Implement ECU and
Implement Bridge. The characteristics of the Tractor ECU
are specifically described in ISO 11783 Part 9. A Task
Controller and Management Computer Gateway and
Virtual Terminal (labeled VT) are shown connected to
the Implement Bus. The Virtual Terminal is described in
Part 6 and the Task Controller and Management Computer
Gateway are described in Part 10 of ISO 11783. The Task
Controller is an ECU which normally resides on the tractor
and is used to provide commands to implements to
accomplish some task. An example might be to provide the
commands of a prescription in a precision farming
operation. The Management Computer Gateway portion of
F i g u re 2Data exchange between software components on
management computers. (TSL refers to the AEAs Transfer Support
the Task Controller and Management Computer Gateway
Layer.) contains an interface that is compatible with the

8 ASAE DISTINGUISHED LECTURE SERIES NO. 23 FEBRUARY 1999

 Figure 3Schematic of an ISO 11783
ork
netw
on an agricultural tractor
.

Management Computer and allows data to be exchanged approach leaves to designers the responsibility of assuring
between the Task Controller and the Management that overall design requirements are met. Management of a
Computer. Standardized communications are defined break or failure of the communications bus must be a part
between the Task Controller and implements and between of a system design and ECUs should be designed to
the Task Controller Interface and applications software on accommodate that failure gracefully. Similarly, though the
the Management Computer as described in figure 2 above. standard has been specified to allow designs to meet
The interface between Management Computer and Task applicable EMC (Electromagnetic Compatibility)
Controller is not standardized. requirements, designers must assume the responsibility of
The network has messages defined to allow assuring their designs based on the standard meet those
communications between any of the components requirements.
(see fig. 3). An example might be communication between
the Task Controller and the GPS ECU. Navigational
messages are defined and allow positional information to COMPONENTS
be received by the Task Controller. In the same sense, A basis for understanding ISO 11783 networks can be
messages are defined to allow the Engine ECU to provide gained through examining the components that compose a
a current torque curve to the transmission. Information network. Logical and physical components of the network
sharing as just described is supported as well as control are described below.
messages. Some messages are defined with repetition rates
of 100 messages per second. This type of message utilizes WIRINGAND CONNECTORS (THE PHYSICAL LAYER )
approximately 5% of the bus capacity, with conservative A twisted quad cabling system was developed
maximum average bus use targeted at approximately 35%. especially for ISO 11783 networks. Selection of a bit rate
M a ny messages are currently defined with va r i o u s to be carried in the cabling system had considerable
repetition rates, and careful planning has been necessary to influence on the design. 125 K bits/s was considered
prevent overuse of the available bus capacity. The Tractor roughly the fastest rate that could be handled without a
ECU provides filtering of messages between the tractor shielded cable while producing acceptable EMC
and implement bus. This filtering is necessary to prevent performance. A 250 K bits/s shielded twisted pair
heavy traffic on either bus from overloading the other. specification was available in the SAE J1939 documents
Support of precision farming applications across the (SAE J1939/11) but shielding was regarded as
implement bus has been included in ISO 11783 as well as unacceptable by manufacturers. DIN 9684 included a 50 K
support for implement and tractor coordination. bits/s un-shielded design, but the bit rate was considered
Flexible expansion of the communications in ISO too low for the applications anticipated by manufacturers.
11783 has been implemented. The network supports the An unshielded 250 K bit/s design with carefully selected
use of proprietary communications simultaneous with voltage slope (dv/dt) and approximate current control in
standardized messages. Manufacturers are free to the data lines was proposed by Deere. This design was
implement enhanced control and information systems proven and is being adopted as Part 2 of the 11783.
beyond those directly supported in the standard. A process The twisted quad cabling system uses four wires
has also been included in the standard to accommodate enclosed in a jacket as shown in cross-section in figure 4.
requests to expand the message set beyond that currently Two of the wires are used to carry data, CAN_H and
defined. CAN_L, and two (TBC_PWR and TBC_RTN) are used
ISO 11783 does not provide a complete design that can only to provide power to terminators at the end of the bus
be implemented without further considerations on as shown in figure 1. The terminator requirements and the
agricultural equipment. A goal of the committees writing method of powering the terminators are rigorously
the standard was to standardize only those aspects of specified in the standard. ECUs are connected to the bus as
communications protocol that must be standardized. This shown in figure 1. The TBC (Terminating Bias Circuit)

ASAE DISTINGUISHED L ECTURE SERIES NO. 23 FEBRUARY 1999 9

 Breakaway connector has been developed to solve this
problem and is specified in the Part 2 document. This
connector is designed for the tractor at hitching points, and
automatically applies termination when an implement is
un-plugged. Use of this connector is also encouraged at any
points where implements are regularly hitched and un-
hitched from each other.
The Part 2 document specifies three standard
connectors; Bus Breakaway, Diagnostics, and Bus In-Cab
connectors. Figure 5, taken directly from Part 2 shows a
connector use map. The physical specifications of the Bus
In-Cab connector are given. It can be used for adding
Figure 4Cross section of the twisted quad cable (ISO, 1998a). components to the bus in the cab of a tractor, for example,
virtual terminals and task controllers. The linear nature of
lines are included in the cable at all points, but are not the bus must be maintained when using the In-Cab
connected within an ECU. connector, requiring that a new section of bus be added
The Part 2 specification has been written to allow use of when adding a new component. A diagnostics connector is
some ISO 11898 integrated circuit bus drivers to be used in also specified in Part 2 and is provided for diagnosis of
ECUs. These integrated circuits are readily available at both the tractor bus (if it exists) and the implement bus.
reasonable cost though discrete designs may also be used The selection of a bus topology as shown in figure 3
and may provide enhanced EMC performance.This feature places a restriction on some applications. The maximum
provides the opportunity for ECUs designed to meet SAE length of a single segment of the bus is 40 m. ECUs may
J1939/11 to be connected and operate within an ISO 11783 be connected to the bus at any point (not closer than 0.1 m
bus system, though slope control must be set within these of each other), but the length from the bus to the ECU must
ECUs to prevent EMC problems. not exceed 1 m. This topology prevents configuring the
Termination of the bus at both ends is a requirement. network as a T or cross. An example might be on an
This presents some problem at the hitches of a tractor. implement where the bus traverses an implement from
When an implement is un-hitched and there are ECUs front to back, and there is a need to extend the bus more
operating on the tractor portion of the implement bus, un- than 0.6 m side to side. In this case either a serpentine
hitching could result in the tractor portion of the bus being arrangement of the bus must be used or a network
un-terminated. A special automatic terminating Bus

Figure 5Connector use within ISO 11783

art 2 (ISO,
P 1998a).

10 ASAE DISTINGUISHED L ECTURE SERIES NO. 23 FEBRUARY 1999

interconnection device must be used with an implement Group Number, a unique numeric identifier for each
sub-network as shown in figure 3. group of parameters that may be contained in the data
Constraints exist for the number of ECUs that may be field.
connected on a single segment of the bus. A maximum of ISO 11783 messages are defined to allow any Parameter
30 ECUs may be connected on a single segment. Multiple Group to be sent from any ECU. The inclusion of a Source
segments may be interconnected with bridges allowing up Address in the identifier is used to guarantee uniqueness of
to 254 ECUs in a system. the identifiers in the system, a requirement of CAN. This
requires that addresses of ECUs in the system be set to
MESSAGE STRUCTURE (THE DATA LINK LAYER ) 29 BIT unique values.
CAN General purpose messages are defined in ISO 11783 to
ISO 11783 is based on the use of the CAN 2.0b 29 bit allow a request to be made for a particular Parameter
protocol (Bosch, 1991). This protocol is designed to send Group. The use of the remote transmission request (RTR)
bits serially as described earlier. A single frame or feature of CAN is not defined for ISO 11783. A general
collection of bits sent by a CAN controller is shown in purpose message is also defined to allow acknowledgment
figure 6, and consists of an identifier and a data field. or negative acknowledgment of a message. The use of
Many additional bits (not shown in fig. 6) are defined in acknowledgment is defined for each message.
the frame for use in the CAN protocol controller, including Messages in ISO 11783 are normally composed of a
cyclical redundancy check bits which are used to allow single CAN frame, but can be composed of multiple
receivers to determine if the data frame sent was received frames. Two types of multi-frame messages (Transport
without bit errors. Undetected errors are confined in the Protocol) are defined; 1) a Broadcast Announce Mode
CAN protocol to a probability of less than 4.7 1011. message, where an initial frame is sent announcing the
ISO 11783 defines the interpretation of the 29 bits in specifications on the frames to follow, followed by the rest
the identifier of CAN frames as well as the interpretation of the frames, and 2) a Connection Mode message which is
of the data. Two types of identifier structures, or protocol sent to a specific destination and allows the receiver to
data units (PDU), are defined. Figure 7 shows a schematic control the flow of messages being sent.
of the definition of the identifier bits for both types of
identifier structures. In both types of PDUs, the least INTERCONNECTION STRUCTURE ( THE NETWORK LAYER )
significant 8 bits define a source address. This value is a Though not a requirement, most ISO 11783 systems
physical address of the ECU sending a message. The first will have interconnected bus segments. The tractor-
three most significant bits of the identifier are defined as implement system shown in figure 3 is an example. A
independent priority bits. Recommendations are provided bridge must be used if transparent communications are to
for the values of these bits in the standard, but they may be occur on interconnected ISO 11783 bus segments. Bridges
adjusted by a manufacturer in a particular application. The use a protocol controller to connect to each segment and
difference between the two PDU types is the inclusion of a pass messages between the segments. A repeater which
destination address in PDU type 1. This message type may not be used, simply echoes the electrical signal from
allows the message to be sent to a particular ECU based on one segment to the other. Limitations on bit timing in ISO
physical address. Addresses 0 through 253 may be used by 11783 prevents use of repeaters. The tractor ECU in an
an ECU, while 254 (the null address) must be un-used and ISO 11783 network provides normal bridge functions, but
255 as a destination indicates a message to all ECUs normally has additional special functions defined in the
(Global). The remaining portion of the identifier in each Part 9 document.
PDU is used to identify the Parameter Group in the data ISO 11783 defines filtering capabilities for network
field, that is, the content of the data field which may be interconnection ECUs. Provisions are made for these
defined to contain multiple parameters. This remaining ECUs to prevent messages from being passed from one
portion of the identifier is used to compute a Parameter sub-network to another. Part 4 defines the structure and
makes provisions that allow messages to be used to
configure the filtering of messages. This capability is
important in controlling network loading of bus segments.
An example can be seen in figure 3 on tractors where a
tractor bus and an implement bus coexist. The tractor bus
is likely to have heavy loading with engine, transmission,
and hitch messages. Most of these are not of interest on the
Figure 6Components of a CAN frame. implement bus and can be filtered from the implement bus
by the Tractor ECU. In the same sense, messages to
control setpoints on seeding rate on a seeder are generally
not of interest on the tractor bus. Traffic partitioning
performed by network interconnection devices can be used
to control bus loading. Generally, manufacturers will need
to configure network interconnection ECUs to optimize
performance of their systems.
Some constraints exist on the way network segments
may be interconnected and on the timing in network
interconnection ECUs. Any segment may not be connected
Figure 7Inter
pretation of the identif
ier of CAN frames in ISO 11783. to another segment in more than one place. This precaution

ASAE DISTINGUISHED LECTURE SERIES NO. 23 FEBRUARY 1999 11

prevents loops in the network and the associated duplicate instances is provided which may be used to define
messages. particular functions associated with ECUs. An ECU
instance field is provided for cases where a single function
ADDRESSING, NAME ING, AND INITIALIZA TION instance may be split among several ECUs. Functions are
ISO 11783 Part 5 includes requirements for a unique not currently defined in ISO 11783, but an example of one
NAME to be included within each ECU. The NAME must type of function might be pressure control on a sprayer.
be unique within a system and is a 64 bit value defined as Several instances of this function could be possible and it
shown in figure 8. The NAME is divided into two distinct is possible that several ECUs might be used in a single
parts, an upper 32 bits which is used to provide a pressure control system.
functional name and a lower 32 bits which provides a
unique code based on the ECU manufacturer and an VIRTUAL TERMINAL
identity number. Manufacturers must obtain a The Virtual Terminal (VT) is an operator interface
manufacturers code by request to the working group in device provided to allow display of information to
order to build ECUs compatible with the standard. The operators and to allow operators to provide input
manufacturer may then assign unique identity numbers to information. VTs are designed to be slaves of ECUs on the
each of the ECUs made. network. An ECU may secure service from a VT and then
An initial design requirement for the network was to be able to display its screens and retrieve operator
allow peer to peer operation but provide a coordinated information for its purposes. The ECU will not necessarily
method to assure unique message identifiers. An 8 bit be aware of other ECUs using the terminal, that is, the VT
address included in all identifiers was selected to meet the appears to be exclusively dedicated from an ECUs
requirement. This feature, allows 254 ECUs to be perspective. From an operators perspective, the VT may
connected in a network. Simple assignment of addresses to be switched to display one ECUs information or another
all of the possible ECUs based on their type appeared or both if the VT supports that capability. An example of
impossible, particularly for implement systems. Many the application of a VT would be with a sprayer as shown
components in a network can have an address assigned, a in figure 9 (ISO, 1998b). A sprayer could secure use of the
primary engine, or a primary transmission for example, but terminal and display Spray Rate and Pressure. When the
ECUs that are temporarily connected would have the sprayers panel is active on the VT screen, it has softkeys
potential of having conflicting addresses assigned. This associated with the panel as shown on the right side of the
problem was managed by providing both self and non-self screen in figure 9. The operator can switch to other panels
configuring ECUs. ECUs in the network attempt to claim which may be those of other implements.
an address upon power-up. In the case of ECUs that are The VT supports downloading of masks used to define
self-configurable, if they happen to claim a used address, panels displayed on the VT screen as well as alarm
an arbitration process occurs and the ECU with the lower displays and softkey definitions for menus. The structured
valued NAME retains the address. Non-self-configuring storage of masks in the VT is shown schematically in
ECUs always win an arbitration with a self-configuring figure 9. Functions are also provided to allow masks to be
ECU because the NAME includes a self-configuring bit loaded from or saved to some form of mass storage within
that assures self-configuring ECUs have higher valued the terminal. The ECU can simply instruct the terminal to
NAMEs. Non-self-configuring ECUs are expected to be load masks from mass storage and then select them for
configured with a tool during configuration of the vehicle display.
and conflicts are resolved at that time. Agricultural Masks in a VT can contain output fields which are used
implements must be equipped with self-configuring ECUs to display on the screen and input fields which are used to
The upper 32 bits of the NAME have capacity for retrieve data from an operator. Numeric data can be
functional naming of an ECU. These fields include an displayed on the VT by selecting a field for update,
Industry Group field which is set to Agriculture for sending the data to the particular output field and selecting
agricultural equipment. States are provided for Truck and the field for end of update. The VT can format the data for
Bus, Forestry, Construction, and Marine industries. The display. In a similar sense, input from the operator can be
Device Class field is used to identify implements and the obtained by selecting a field for input. When the operator
tractor and other similar systems. An instance field is has completed the input, data will be automatically sent to
provided for Device Class allowing multiple instances of an ECU by the VT. Display from multiple ECUs can be
implements. A Function field with capability for multiple coordinated from a single ECU. For example resources
associated with several functions that may be in different
ECUs as shown in figure 9 may be stored and selected in a
coordinated fashion by the ECUs.
The VT specification supports both text and graphic
displays. Graphic functions are included for line drawing
as well as for higher level functions including bar and dial
gauges. Bitmap graphic elements may also be defined and
displayed.

TASK CONTROLLING
ISO 11783 supports a task control application. A Task
Controller is contained within an ECU on the implement
Figure 8ISO 11783AME
N structur
e. bus in the system. Commands may be loaded into a Task

12 ASAE DISTINGUISHED L ECTURE SERIES NO. 23 FEBRUARY 1999

 Figure 9Schematic of a virtual terminal (ISO, 1998b).

Controller from a management computer before a field the field definitions in the message. The identifier contains
operation and then the commands delivered to a controlled a value in the R, G, and PDU Format fields that identifies
device, an implement for example, during the field the data field as the Process Data Message. The message
operation. Task Controllers support three modes of
command delivery; time based, distance based, and
position based. A common application of a task controller
will be for use in precision farming systems. In that
application, prescriptions created on a management
computer can be transferred to the task controller. The task
controller can then deliver the prescription to an implement
as needed based on position measured by an onboard GPS
system. Task Controllers also support the capability to log
actual data during the field application and then transfer of
that data back to the management computer.
A message was created in ISO 11783 Part 7 to allow
commands to pass from task controllers to implements and
from implements to task controllers. Figure 10 summarizes Figure 10Field def
initionsorf the pr
ocess data message.

ASAE DISTINGUISHED LECTURE SERIES NO. 23 FEBRUARY 1999 13

contains both source and destination address, allowing it to message. This message communicates the current torque
be sent to a particular ECU. If sent from a task controller to curve of the engine and could be used by an implement to
an implement, the message would be sent to the lowest optimize power use. A forage harvester could monitor
instance of the Function being controlled within that engine power use with the Electronic Engine Control No. 1
implement. A single process variable is sent in this message, and use the TC1 message to request a
message in the four byte Process Variable data field. The transmission gear settings to optimize forward speed and
selector indicates the data format of the variable, the type, engine efficiency. This type of control system impacts safe
and a Modifier, a qualification regarding the variable. The operation of the vehicle and would require agreement
data type indicates whether the process variable is an actual between the forage harvester manufacturer and the tractor
value or a setpoint and whether the message is a request or manufacturer. Tractors will likely be equipped with
a response (commands are sent as a response). The Count security mechanisms to prevent unauthorized command of
Number field allows specification of a particular element critical functions on the tractor. This type of control could
within the implement or may be used to select all elements. just as well be used in a self-propelled combine harvester
This may be a particular row, or bin depending on the to optimize performance.
process variable. The Implement-Type and Position field
allows selection of a particular implement function, for DIAGNOSTICS
example, a seeding function vs. a fertilizer application Currently, diagnostics are not defined in ISO 11783, but
function within an implement. The position field allows the working group is discussing options. ISO 11783 does
selection of a particular instance or mounting position of define a standard diagnostic connector (identical to SAE
that function. The Data Dictionary Field identifies the J1939) that provides connections to both the tractor and
particular process variable which is a function of the implement bus. This provides a standard phy s i c a l
particular Implement Type. connection point for data loggers and diagnostic tools. The
The Process Data message allows Task Controllers to VT also provides input/output capability that can be used to
send commands and query implements regarding their display and retrieve operator information for diagnostic
current setpoints and actual operating points. The same purposes. SAE J1939 includes a diagnostic capability that
message allows implements to send current setpoints and is designed for use among network based ECUs and can be
actual operating points. used with diagnostic tools. There is not agreement at this
point regarding whether to include this or a similar
TRACTOR AND TRACTOR ECU MESSAGES capability in ISO 11783. Initial diagnostics are likely to be
Messages have been developed to allow basic supported through proprietary diagnostic tools or through
information to be available on the implement bus. These the VT.
messages have been included in ISO 11783 Part 7 as listed
in table 3. Most of these messages are sent repetitively at
some rate fixed in the document and can be monitored by DESIGN STRATEGIES FOR IMPLEMENTATION
ECUs needing them on the implement bus. Others are sent
on request, for example, Time and Date, which may be OF ISO 11783
requested using the request message described earlier. An Guidelines for network development have been given by
example of the use of these messages would be in an Young (Young, 1994) and example designs have been
implement where seeding rate is being controlled. This published (Stone, 1988). The guidelines by Young are
implement could monitor speed and distance information summarized below.
and use that to regulate seeding rate. 1. Locate ECUs where concentrations of inputs and
outputs exist.
MESSAGESON THE TRACTOR BUS 2. Minimize the number of wires crossing critical
A set of messages are available primarily for use on the boundaries.
tractor bus. These messages include an extensive set for 3. Connect sensors or actuators to the closest module.
powertrain control and information as well as messages 4. Locate ECUs so that critical closed-loop control is
supporting service logging. This message set is defined in not performed over the network.
ISO 11783 Part 8 and is equivalent to SAE J1939-71. An 5. Condition, scale, and diagnose sensor or actuator
example of these messages is the engine configuration information at the module to which they are
connected.
Table 3. Basic messages included
artin
7P 6. Transmit information over the network in
Message Title Normal Source engineering units.
7. Make no assumptions about hardware or operator
Time and date Tractor ECU
Wheel based speed and distance Tractor ECU interface components connected to ECUs.
Ground based speed and distance Tractor ECU 8. Broadcast data at a fixed rate.
GPS position and status data GPS / navigation ECU 9. Do not incorporate emerging standards until they
Attitude (bearing, pitch, roll, altitude) GPS / navigation ECU are fully defined.
Hitch status (position and draft) Tractor ECU
Power takeoff status Tractor ECU These guidelines are in general consistent with the
Auxiliary valve status Tractor ECU current definitions in ISO 11783 and are suitable for
Hitch and PTO commands Implement ECU examining addition of messages and parameters in the
Auxiliary valve commands Implement ECU system. Some expansion and additions to Youngs original
Lighting Tractor ECU guidelines are appropriate for ISO 11783 systems.
Process data Task controller / implement ECU
ECU power status and extension Tractor / implement ECU

14 ASAE DISTINGUISHED L ECTURE SERIES NO. 23 FEBRUARY 1999

 Location of ECUs to accommodate concentrations of carefully with regard to the impact on latency of messages.
input and output signals requires a survey of input and ECUs which are communications partners and contribute
output signals in a proposed design. The survey should large loads may be partitioned to a separate subnetwork or
include identification of the signal, its physical location, its combined to eliminate the network traffic.
temporal frequency and temporal resolution, and its Initialization processes of ECUs must be considered in
magnitudinal resolution and range requirements. the network design, This is particularly true for ECUs on
Identification of magnitudinal resolution and range of implements or those communicating with implements.
signals should include classification of signals into digital ECUs which may be disconnected and reconnected to the
or analog signals. Naming or identification of the locations network without the use of a tool to readjust the address of
about the machine should be done carefully before the the ECU should be configured to perform self-configuring
survey is initiated, with the understanding that once addressing. In addition, in cases where more than one
defined, locations may be split or combined to allow instance of these ECUs can exist on the network, some
allocation of signals to ECUs. Signals should be classified method must be provided to set the instance fields in the
as setpoints or actual values, and as a measured or a status network NAME of the device. This problem exists with
value. In the later case, an ECU might contain inputs where agricultural implements. Consider a planter that may be
the status of a switch might be measured, for example a used alone or may be hitched side by side with several
switch to turn the PTO ON or OFF. The same controller other planters. The planter may be manufactured and
might also contain state data indicating whether the PTO is programmed initially to have a Device Class of planter,
ON or OFF. Both signals may need to be communicated on and an instance of 1. When two planters are connected
a network and may not have the same value, for example together some method must be provided by the
the PTO switch is ON, but the PTO state is OFF because it manufacturer to set the instances of planter contained in the
may be inhibited for some reason. This is less a problem NAME in the ECUs. Several techniques are available,
for actual values than with setpoints since the measured including a requirement that the components be connected
signal of an actual value is typically the same as the state and powered in sequence the first time they are used
signal. together. If this process is used, software must be included
Once a signal survey is complete, the signals should be in a planter to detect other planters and to set its instance
compared to parameters that have already been defined in accordingly. In addition, some method must also be
ISO 11783. Where possible, parameters should be provided to allow the instance to be reset when the planter
communicated through messages that have been is configured differently. No specification is made in ISO
standardized. Signals that havent been defined in ISO 11783 regarding how instance setting is to be done, just
11783 but appear to be generally needed by other that it must be done. Manufacturers must include resolution
manufacturers should be considered for standardization. A of this issue in their designs.
request to the ISO TC23/SC19/WG1 should be made to
include these parameters and group them into messages. FAULT MANAGEMENT
Those signals which must be communicated and are not Analysis and control of potential faults in machine
candidates for standardization should be assigned to design is a normal part of the design process. The use of an
proprietary parameters and grouped into proprietary ISO 11783 network introduces opportunities for failures.
messages. Some that should be considered in an analysis include
Identification of the ECUs needed in a system can be breaks in or shorts of one or more of the conductors in the
done after a signal survey is complete. An initial set of communications bus. The Part 2 document identifies many
ECUs should be proposed for the locations about the of the potential failures in the bus wiring and the potential
machine and signals assigned to the ECUs by location. The effect on communications. It is possible to continue
signal count and total frequency of throughput should be communications in some cases where single bus lines are
constrained at each ECU to the reasonable capabilities that shorted or broken. In addition, the detection of the failure
can be provided by an ECU. of the communications bus is being considered by bus
Once the messages have been identified and the ECUs driver manufacturers. Failures in communications can also
are known, the ECUs should be examined for be detected in the ECU through the CAN protocol
computational capacity. The algorithms that must be controller. These devices typically provide indications of
executed within each ECU, the frequency at which it must errors that occur in transmission and reception of
be computed, and the memory space it will occupy must be messages. CAN includes an error recovery protocol which
determined. In addition, the load on the ECU to manage the automatically re-attempts to send a message when a
network traffic it must handle must be determined. Both transmission error occurs. A mechanism is provided to
loads must be totaled and compared to the ECUs prevent this from occurring indefinitely.
computational capacity. A re-allocation of signals to ECUs The probability of a undetected error can be calculated
may be necessary, and once done, the load computation in CAN based networks based on the techniques used in
process repeated until a reasonable design is found. protocol controllers for fault confinement. The probability
Network load must also be examined as a part of the of an undetected error in a CAN data link is 4.7 1011. If
design. Total network load can be calculated or simulated errors were detected at rates of 10 per second, the
based on the number of messages, their lengths, and probability of a single undetected error occurring in a
frequency of transmission. The network load of each 10,000 hour life of a machine would be less than 0.02. Two
s egment in the network should be calculated. A conclusions can be drawn, first, that as long as errors do
conservative target maximum load on each segment is not occur at a high rate, it is unlikely that a single
approximately 35%. Larger loads should be considered undetected error will occur within the life of a machine,

ASAE DISTINGUISHED LECTURE SERIES NO. 23 FEBRUARY 1999 15

and second, software should be designed to detect recurring heavily driven by cost lowering opportunities offered by
errors in communications and to indicate a fault when the allowing modular components from different OEMs to
error rate is determined to be too high. inter-operate on the same bus. In addition, standardization
CAN is very effective in detecting errors in messages has been driven by the need for inter-operation of
received, though, does not provide a robust mechanism to agricultural implements with tractor systems. Customer
determine if a message has been completely missed or not demand and inter-operability will continue to drive
sent in the first place. ISO 11783 provides definition of standard development in the future.
messages and that many of the messages be sent A significant physical constraint for evolution of the
repetitively at a specified rate. It is up to designers to standard is the limitation on bus throughput. Opportunities
manage a failure to receive messages in an appropriate to improve bus throughput are primarily constrained by the
fashion. physical wiring and EMC constraints. ISO 11783 has been
Information that may be used in failure mode and effect developed to comply with an OSI layered model. One of
analysis (FMEA) is provided in Part 2 and in the Bosch the objectives of that model is to allow the possibility that
CAN 2.0 Specification (Bosch, 1991). The Part 5 document parts of the specification may be replaced without
defines requirements regarding ECU operation during significant effects on the other layers. This is true to a large
power drop-outs. ECUs must retain their information extent with the physical layer which defines the wiring
regarding network structure and continue to operate system. If future technologies provide, for example, plastic
normally after a 10 ms power drop-out. No other optical fiber communication systems that are cost effective
significant requirements are made within the standard and serviceable, a new physical layer definition could be
r egarding actions that must be taken with a created and the standard could evolve to support it. The
communications failure. Appropriate measures should be same possibilities exist for the other layers in the
designed into software of ECUs to provide reasonable document.
operation in the event of a communications failure. An issue that constrains future evolution of the physical
layer of the standard is that of the need to retain
ELECTROMAGNETIC COMPATIBILITY compatibility of connector systems at the hitch. Current
Management of EMC is a necessary part of design of tractors within the US use an SAE J560B connector at the
electronic systems. ISO 11783 based systems may add hitch. As ISO 11783 systems evolve, we expect this
somewhat to the effort that must be made to manage EMC. connector to eventually be replaced by the ISO 11783 hitch
ISO 11783 systems include a communications bus that connector. The Truck and Bus industry faces this same
c o nventional systems may not. On the other hand, problem, and the industry has foregone including the SAE
dedicated wiring that might be used for communications in J1939 network on trailers in truck-trailer combinations at
past systems is eliminated. Electromagnetic emissions and this point, because of the industrys reluctance to change to
susceptibility of the communications bus of ISO 11783 a new connector. Serious efforts are underway in that
systems have been studied extensively. Systems built to industry to discover some way to carry a high speed
conform with ISO 11783 Part 2 have been demonstrated to n e t work without changing the current connector.
meet current EMC requirements in the US and in Europe. Agricultural equipment is posed to evolve to the use of a
Application of conventional EMC control practices as well connector with network communications and will likely
as following the recommendations in the Part 2 document use that technology for many years.
is likely to produce a system which will meet current EMC The application layers of ISO 11783 define information
requirements. Testing to confirm the EMC performance of and include the data dictionaries. In the future, it is likely
ISO 11783 systems is necessary. that these portions of the document will grow to include
additional information, but the current definitions will be
retained and tend to influence network systems long into
FUTURE the future. The large undefined message space in ISO
ISO 11783 forms a foundation for design of electronics 11783 provides the opportunity for manufacturers to
in agricultural equipment in the near future as well as a produce new applications of the network without
foundation for its own extension and for development of significant constraints on the creation of standardized
future standards. The standard is designed to allow messages.
evolution and can serve long into the future. An initial set ISO 11783 has developed to allow support of precision
of messages has been created based on anticipated use of farming systems. The standard has been described as a
the standard. The total number of messages that can be system to support precision farming. That perspective is a
defined in the standard is about 8500. Currently, less than narrow view of the future opportunity to use the network to
100 messages have been adopted or proposed. The process offer better products. The network can be used to allow
to create ISO 11783 has taken over seven years and tractor-implement coordination, and will allow improved
evolution of the current standard may be the only way to interaction of operators with implements. The network can
allow the standards process to keep up with technological provide a component of the technology that will be needed
change. in future systems to meet constraints imposed by
The most critical factor in evolution of ISO 11783 will environmental, energy, and economic concerns.
be customer needs. As customers demand improved
performance, standards will evolve to support that demand.
ISO 11783 now provides a flexible and expandable
communication system to which modular components may
be added. Standardization of network protocol has been

16 ASAE DISTINGUISHED LECTURE SERIES NO. 23 FEBRUARY 1999

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