ISO 23316-4:2023
(Main)Tractors and machinery for agriculture and forestry — Electrical high-power interface 700 V DC / 480 V AC — Part 4: AC operation mode
Tractors and machinery for agriculture and forestry — Electrical high-power interface 700 V DC / 480 V AC — Part 4: AC operation mode
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.
Titre manque — Partie 4: Titre manque
General Information
Standards Content (Sample)
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 23316-4:2023(E)
© ISO 2023
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ISO 23316-4:2023(E)
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© ISO 2023
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ISO 23316-4:2023(E)
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
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ISO 23316-4:2023(E)
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
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different 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
patent rights in respect thereof. As of the date of publication of this document, ISO had received notice of
(a) patent(s) which may be required to implement this document. However, implementers are cautioned
that this may not represent the latest information, which may be obtained from the patent database
available at www.iso.org/patents. ISO shall not be held responsible for identifying any or all such patent
rights.
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to
the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see
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.
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ISO 23316-4:2023(E)
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.
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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.
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ISO 23316-4:2023(E)
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
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ISO 23316-4:2023(E)
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.
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ISO 23316-4:2023(E)
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.
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ISO 23316-4:2023(E)
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.
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ISO 23316-4:2023(E)
— 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).
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ISO 23316-4:2023(E)
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
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ISO 23316-4:2023(E)
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.
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ISO 23316-4:2023(E)
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 a reference for design of inverters and electric
machines. The necessary parameters used for setting the control mode are listed in ISO/FDIS 23316-6:—.
4.5 AC voltage and current
4.5.1 AC voltage
4.5.1.1 Voltage range
The following AC output voltage range shall be applicable: 0 V to 480 V RMS.
RATIONALE The AC output voltage of up to 480 V RMS (phase to phase) is related to the maximum
applicable fundamental AC voltage with inverter-modulation based on DC-link nominal voltage of
700 V DC.
NOTE 1 The AC output voltage is always a PWM voltage, modulating the DC-link voltage. An RMS voltage value
is meant as the fundamental component of the PWM voltage, which is relevant for powering the motor. The RMS
value of the complete PWM voltage can be significantly higher.
NOTE 2 Special working points with over-modulation can provide a higher fundamental output voltage.
4.5.1.2 Voltage quality
The LLB shall be able to request a minimum switching frequency.
In closed-loop control modes (torque and speed control), there are no requirements concerning voltage
quality.
In open-loop “variable DC chopper supply” mode, there are no requirements concerning voltage quality.
In “voltage-frequency characteristic control” and “independent voltage and frequency supply” mode,
the voltage quality shall be ensured by following measures:
a) controlling of output voltage in order to compensate variation in DC-Link voltage;
b) sinusoidal waveform with a minimum of 10 samples per period for the fundamental frequency
range below 500 Hz;
c) minimum switching frequency of 5 kHz for a fundamental frequency at and above 500 Hz.
4.5.1.3 Transient threshold
The allowed maximum voltage slope (dU/dt), as a transient between 10 % and 90 % of switched DC-
link voltage (as shown in Figure 6) of the PC PWM output voltage shall be sent by the LLB to the PC (see
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ISO 23316-4:2023(E)
ISO/FDIS 23316-6:—, Annex A). The value sent by the LLB and the dU/dt value of the PC shall be sent by
the PC to the HPI-C. The HPI-C shall decide whether a reliable operation is possible.
NOTE 1 The allowed maximum voltage slope is considered as a maximum requirement for the inverter and as
a minimum requirement for the electrical machine.
NOTE 2 The current benchmark of dU/dt is 5 kV/µs to 10 kV/µs. However, technology developments might
improve on this leading to higher values.
Key
dU voltage difference
dt time difference
T time period of PWM voltage
switch
Figure 6 — Detail of a PWM voltage
4.5.1.4 Over-voltage protection
The inverter shall limit the voltage according to ISO 23316-1:2022, Clause 5.
In both torque control and speed control mode, this can be achieved by limitation of the generated
torque. If this measure is not sufficient or any open-loop control mode is used, the PC shall switch off
its power stage. For this, two different over-voltage switch-off modes should be available (voltage levels
according to ISO 23316-1):
— open terminal outputs (typically used e.g. for induction motors): All IGBTs are switched off;
— active terminal short-circuit in field weakening range (typically used for PSM, if considered in
components design): The upper IGBTs are switched off, the lower IGBTs are switched on or vice
versa.
The over-voltage-switch-off mode for field weakening range for PSM shall be sent as initialization
parameter via EtherCAT (see ISO/FDIS 23316-6:—, Table A.15).
NOTE If there is a need for a permanent magnet synchronous motor to be switched-off because of a fault
while it is operating in field weakening condition at high speed, an over-voltage condition is likely to result
because of the high back-EMF voltage. The over-voltage can be avoided by active terminal short-circuit of the PC.
This measure can be considered in the design of the motor to avoid demagnetization of the permanent magnets
and to limit the short circuit current to a value which do not exceed the current capability of the PC.
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ISO 23316-4:2023(E)
4.5.2 AC current
4.5.2.1 Current capability and requirement
Each supply system interface (limited by PC output, cable and connector) has its individual current
c
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