ISO 23316-4:2023

INTERNATIONAL ISO
STANDARD 23316-4
First edition
2023-08
Tractors and machinery for
agriculture and forestry — Electrical
high-power interface 700 V DC / 480 V
AC —
Part 4:
AC operation mode
Reference number
© ISO 2023
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 2
4 AC System overview .4
4.1 Basic AC system topology . 4
4.2 Load configurations . 6
4.3 Consumer system configuration . 7
4.3.1 Operation with single consumer system . 7
4.3.2 Operation with multiple consumer systems . 7
4.4 Control modes . 8
4.4.1 Closed-loop control modes . 8
4.4.2 Open-loop control modes . 9
4.5 AC voltage and current . 9
4.5.1 AC voltage . 9
4.5.2 AC current. 11
4.6 Cable length . 11
4.7 Basic control modes . 11
4.7.1 General . 11
4.7.2 Closed-loop control modes . 13
4.7.3 Open-loop control modes . 15
4.8 Interlock . 17
4.8.1 General . 17
4.8.2 Interlock function — Closed loop AC modes . 17
4.8.3 Interlock function — Open loop AC modes . 17
4.8.4 Interlock function — DC supply with AC HPI . 17
5 EtherCAT .18
5.1 Background . 18
5.2 Physical layer . 18
5.3 Initialization data . 18
5.4 Cyclic control feedback data . 18
Bibliography .19
iii
Foreword
ISO (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
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described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO document 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).
ISO draws attention to the possibility that the implementation of this document may involve the use
of (a) patent(s). ISO takes no position concerning the evidence, validity or applicability of any claimed
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www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 23, Tractors and machinery for agriculture
and forestry, Subcommittee SC 19, Agricultural electronics.
This document is intended to be used in conjunction with ISO 23316-1, ISO 23316-2, ISO 23316-3,
ISO 23316-5, ISO/FDIS 23316-6:— and ISO 23316-7.
A list of all parts in the ISO 23316 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
iv
Introduction
The purpose of the ISO 23316 series is to provide design and application standards covering
implementation of electrical high-power interface with a nominal voltage of 700 V DC/480 V AC for
agricultural and forestry machinery. The ISO 23316 series specifies the physical and logical interface
requirements that provide interoperability and cross compatibility for systems and equipment.
In order to state compliance to the ISO 23316 series, all applicable requirements from ISO 23316-1 to
ISO 23316-7 shall be met.
It is permitted for partial systems or components to be compliant to the ISO 23316 series by applying
all applicable requirements e.g. for the plug, receptacle or inverters, on a tractor or implement.
NOTE For example, if a DC-mode only HPI is provided, it is not necessary to comply with this document
describing AC-mode, as it is not applicable. If an AC-mode only HPI is provided, it is not necessary to comply with
ISO 23316-5 describing DC-mode, as it is not applicable.
The following are not within the scope of the ISO 23316 series:
— service, maintenance, and related diagnostics;
— functional safety;
— control strategies for high-power supplies and loads;
— application-specific strategies and operational modes;
— component design;
— energy storage systems, e. g. supercapacitors or batteries;
— multiple electrical power supplies to a common DC-link.
v
INTERNATIONAL STANDARD ISO 23316-4:2023(E)
Tractors and machinery for agriculture and forestry —
Electrical high-power interface 700 V DC / 480 V AC —
Part 4:
AC operation mode
1 Scope
This document specifies required measures applicable to the HPI AC Interface between a supply system
(typically located on an agricultural tractor) and detachable electrical consumer system (typically
located on an agricultural implement).
This document covers the following:
— HPI system topologies;
— interface relevant characteristics of the HPI providing AC or combined AC and DC;
— interface relevant characteristics of the HPI AC load (for relevant characteristics of a DC load, see
ISO 23316-5);
— logical, operational and electrical characteristics of the HPI:
— operating mode aspects, and
— communication parameters
NOTE This document contains simplified electrical diagrams showing specific aspects of the required
functionality.
2 Normative references
The following documents refer to the text in such a way that some or all of their content constitutes
requirements 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 23316-1:2022, Tractors and machinery for agriculture and forestry — Electrical high-power interface
700 V DC / 480 V AC — Part 1: General
ISO 23316-2:2023, Tractors and machinery for agriculture and forestry — Electrical high-power
interface 700VDC / 480-VAC — Part 2: Physical interface
ISO 23316-5:2023, Tractors and machinery for agriculture and forestry — Electrical high-power
interface 700VDC / 480-VAC — Part 5: DC operation mode
1)
ISO//FDIS 23316-6:— , Tractors and machinery for agriculture and forestry — Electrical high-power
interface 700VDC / 480-VAC — Part 6: Communication signals
IEEE 802.3-2018, Physical Coding Sublayer (PCS), Physical Medium Attachment (PMA) sublayer and
baseband medium, type 100BASE-T1 (100 Mb/s Ethernet full duplex local area network over a single
balanced twisted pair)
1) Under preparation: Stage at the date of publication: ISO/FDIS 23316-6:2023.
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO 23316-1 and the following
apply.
ISO and IEC maintain terminological databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at http:// www .electropedia .org
3.1
AC-load
ACL
device capable of utilising AC voltage
EXAMPLE 3-phase motor, heat resistor, linear actuator.
3.2
actual value
feedback values of the electric drive’s control within the agricultural application/process
Note 1 to entry: In torque control mode, it is an estimation based on current and electric machine’s model.
3.3
application control
APP-C
control means to monitor and control the consumer system, typically located on the implement
3.4
combined AC and DC interface
interface be able to provide AC Mode or alternatively DC Mode functionality
3.5
DC-load
DCL
device capable of utilising DC voltage (e.g. power converter with inductive/resistive/capacitive load)
3.6
EtherCAT
industrial communication network according to IEC 61158 Type 12
Note 1 to entry: All uses of the term “fieldbus” in ISO23316 refer to this definition.
Note 2 to entry: EtherCAT is an Ethernet based fieldbus technology widely used for real-time distributed control
applications. EtherCAT uses Ethernet frames according to IEEE 802.3. The frames are sent by the EtherCAT
MainDevice, which typically also is the application controller. The frames contain process data and parameter
data for the distributed nodes such as drives, sensors and general input/output devices which are called
EtherCAT SubDevices. Each EtherCAT SubDevice reads the output data intended for it from the frame and writes
the input data to be sent to the MainDevice into the frame. This is done on-the-fly in hardware with minimum
delay while forwarding the frame to the next SubDevice. Due to this functional principle, switches are omitted,
and the protocol overhead is minimized.
3.7
EtherCAT MainDevice
device integrated within inverter onboard supply system, controls actively the communication within
the EtherCAT network and requests/receives data to/from the EtherCAT SubDevice in a cyclically and
time-wise deterministic manner
3.8
EtherCAT SubDevice
device integrated within LLB on-board consumer system receives data (e.g. requests) from and provides
data (e.g. feedback) to the EtherCAT MainDevice passively
3.9
fundamental component
sinusoidal component of the Fourier series of a periodic quantity (e.g. sinusoidal current or PWM
voltage) having the frequency of the quantity itself
[SOURCE: IEC 60050-103]
3.10
induction machine
IM
asynchronous machine of which only one winding is energized
[SOURCE: IEC 60050-411]
3.11
load logical box
LLB
collects and transfers sensor data and specific parameters from the load to the PC/S via EtherCAT
Note 1 to entry: electronical device connected to EtherCAT as SubDevice and optionally topic electrical load
internal communication bus; intended use as memory of load specific data (e.g. electric machine specific data)
and load sensor electronics (e.g. for processing of temperature, speed, or position sensor signal).
3.12
permanent magnet synchronous machine
PSM
machine in which the field system consists of one or more permanent magnets
[SOURCE: IEC 60050-411]
3.13
reluctance synchronous motor
RSM
synchronous motor with an unexcited rotor carrying a number of regular projections which may or
may not have a cage winding for starting
[SOURCE: IEC 60050-411]
3.14
switched reluctance machine
SRM
type of stepper motor with isolated windings, but it contains a smaller number of poles
Note 1 to entry: The applied voltages are not sinusoidal; it is controlled by switched voltage blocks.
Note 2 to entry: Similarly, to the RSM, the SRM has only salient poles without magnetic excitation measures.
3.15
target value
commanded value for the controlled quantity of the electric drive within the agricultural application/
process
Note 1 to entry: other commonly used terms like command value, set value (point), reference value, demanded or
desired value are not used therefore within this document.
3.16
tractor implement management
TIM
operator assistance system that enables clients to request the control of certain functions (for example
speed, steering, hitch, PTO, hydraulic valves, etc.) from servers
3.17
tractor implement management client
TIM-C
operator assistance system which represents TIM functions for the process optimization in the use of
tractor implement combinations based on the ISOBUS communication protocol
3.18
tractor implement management server
TIM-S
participant that provides TIM functions or settings and is able to share these with TIM clients
4 AC System overview
4.1 Basic AC system topology
Figure 1 describes the basic AC system topology with two AC drives.
Key
power connection C controller of a device
signal/bus connection C DC link capacitor
DC
optional signal connection CE combustion engine
I supply system DCLNK DC link
II consumer system HPI-C HPI - control
1 HPI (high-power interface) HPI-MC HPI – master control
2 ISOBUS connector LLB load logical box
3 power lines PC power converter
4 ISOBUS PC-C power converter controller
5 supply system communication bus REC rectifier (AC/DC power converter)
(e.g. tractor bus)
6 consumer system communication bus T transmission
(e.g. implement bus)
7 EtherCAT/interlock signal TC task controller
8 feedback signal (e.g. sensor signal) TIM-C TIM (tractor implement management) -
client
9 interlock signal line breaker TIM-S TIM - server
ACL AC load (e.g. electric motor) VT virtual terminal (user interface, e.g. display)
APP application
Figure 1 — AC topology example with two loads
A power supply provides at least one HPI.
A typical electric AC drive consists of one 3-phase inverter on the side of the power supply that is
connected with at least one AC load on the side of an implement via one high power connector.
4.1.2 Rationale for basic AC-system topology:
— ISOBUS and EtherCAT are mandatory for closed-loop AC modes.
— ISOBUS is intended for application-specific communication, e.g. values for working process data
between implement and tractor.
— HPI-MC and supply system communication bus are typically used for connection of the inverters to
the ISOBUS. However, this is not mandatory for the functionality of the HPI.
— EtherCAT is intended for load specific communication, e.g. AC-load identification and sensor-signal
feedback data.
— EtherCAT is a 1:1 connection and enables the unambiguous communication between inverter and
LLB.
— The LLB is a logical representative of AC-load (ACL).
— HPI with ACL are identified via EtherCAT communication by related PC. The mapping of the ACL (LLB
address) and the PC (ISOBUS and supply system communication bus addresses) shall be performed
-as described by the handshake sequence given in ISO/FDIS 23316-6:—, Clause 5.
— EtherCAT shall also be used for supervision of plugged power connector (interlock loop functionality).
— The optional consumer system communication bus connects the HPI-C with the LLBs and optional
other controllers onboard the consumer system.
— Pure AC topology as well as mixed DC and AC topology is possible.
4.2 Load configurations
Figure 2 presents examples for possible loads. The typical ACLs are 3-phase electric machines but can
also be general electric impedances (3-phase and 1-phase).
Figure 2 — Examples for ACL configurations
The ACL may consist of multiple loads connected in parallel (e.g. several induction electric machines in
parallel on a single output as displayed in Figure 2).
Parallel use of two HPI sources into a single load circuit shall not be allowed.
4.3 Consumer system configuration
4.3.1 Operation with single consumer system
A single consumer system may contain one or more independent electric loads; such a configuration is
shown in Figure 3 and is the basis for the following figures with multiple ACLs.
The consumer system may contain one common HPI-MC or separated HPI-MC’s related to the different
ACLs.
Key
I supply system II consumer system
ACL AC load (e.g. electric motor) REC rectifier (AC/DC power converter)
G generator PC power converter
Figure 3 — Single consumer system schematic
4.3.2 Operation with multiple consumer systems
In this subclause, some but not all possible configurations with more than one ACL are shown.
Figure 4 shows a configuration with exclusively ACLs. As shown with the ACL on consumer system
#n, it is not necessary to have direct connection to a supply system; a consumer system attached in
between (see Figure 4 #n-1) may be used similar to an “extension cable”.
Key
I supply system II consumer system
ACL AC load (e.g. electric motor) REC rectifier (AC/DC power converter)
G generator PC power converter
Figure 4 — Multiple consumer system schematic with pure AC-topology
Figure 5 shows configurations with mixed AC and DC topology (a system topology using AC-HPI and
DC-HPI in the same system).
Key
I supply system PC power converter
II consumer system DCL DC load (e.g. inverter and electric motor)
ACL AC load (e.g. electric motor) REC rectifier (AC/DC power converter)
IC input circuit of a consumer system with DCL G generator
(e.g. pre-/discharge unit including filter)
S switch (contactor or solid state switch, including
pre- and discharge unit)
Figure 5 — Multiple consumer system schematics with mixed AC and DC topology
4.4 Control modes
4.4.1 Closed-loop control modes
4.4.1.1 The following closed-loop control modes shall be supported:
a) torque control (see 4.7.2.1), and
b) speed control (see 4.7.2.2).
4.4.1.2 The following electric machine types shall be supported in the closed-loop control modes:
a) induction machine (IM, squirrel cage machines);
b) permanent-magnet synchronous machine (PSM), and
c) reluctance synchronous machine (RSM).
NOTE 1 RSM does not mean switched reluctance machine (SRM) and has different control strategy than SRM.
NOTE 2 The necessary parameters used for setting the electric machine type are listed in ISO/FDIS 23316-6:—
, Table A.11.
NOTE 3 Configurations with multiple electric machines which are used in parallel at one AC-interface are not
supported in closed-loop control modes.
4.4.2 Open-loop control modes
The following open-loop control modes shall be supported:
a) voltage-frequency characteristic control (see 4.7.3.2),
b) independent voltage and frequency supply (see 4.7.3.3), and
c) variable DC chopper supply (see 4.7.3.4).
NOTE 1 The open-loop control modes enable the flexibility to operate single or multiple general ACLs or DCLs.
NOTE 2 IEC TS 60034-25 and IEC TS 61800-8 can be used as
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