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J1939-21

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SURFACE

J1939-21

VEHICLE

RECOMMENDED

PRACTICE

DATA LINK LAYER

Land Sea Air and Space

For Advancing Mobility

The Engineering Society

INTERNATIONAL

400 Commonwealth Drive, Warrendale, PA 15096-0001

REV

APR 2001

Issued 1994-07

Revised 2001-04

Superseding J1939-21 Jul98

SAE Technical Standards Board Rules provide that: “This report is published by SAE to advance the state of technical and engineering sciences. The

use of this report is entirely voluntary, and its applicability and suitability for any particular use, including any patent infringement arising therefrom, is

ForewordThis series of SAE Recommended Practices have been developed by the Truck and Bus Control

and Communications Network Subcommittee of the Truck and Bus Electrical and Electronics Committee.

The objectives of the subcommittee are to develop information reports, recommended practices, and

standards concerned with the requirements, design, and usage of devices that transmit electronic signals

and control information among vehicle components. The usage of these Recommended Practices is not

limited to truck and bus applications; other applications may be accommodated with immediate support

being provided for construction and agricultural equipment, and stationary power systems.

These SAE Recommended Practices are intended as a guide toward standard practice and are subject

to change so as to keep pace with experience and technical advances.

This data link layer is used for all SAE J1939 applications. It is the characteristic that is common across

all SAE J1939 applications.

TABLE OF CONTENTS

1 SCOPE (R) .............................................................................................................................................. 5

2 REFERENCES ........................................................................................................................................ 5

2.1 A

PPLICABLE PUBLICATIONS................................................................................................................. 5

2.1.1 SAE Publications.............................................................................................................................. 5

2.2 R

ELATED PUBLICATIONS...................................................................................................................... 5

2.2.1 ISO Publications............................................................................................................................... 5

3 DEFINITIONS .......................................................................................................................................... 5

4 ABBREVIATIONS................................................................................................................................... 5

5 TECHNICAL REQUIREMENTS.............................................................................................................. 6

5.1 M

ESSAGE/FRAME FORMAT .................................................................................................................. 6

5.1.1 SAE J1939 Message Frame Format (“CAN 2.0B” Extended Frame Format) ................................. 7

5.1.2 Parameter Group Number (PGN) (R) .............................................................................................. 7

5.1.3 SAE J1939 Support of “CAN 2.0B” Standard Frame Format Messages....................................... 10

the sole responsibility of the user.”

SAE reviews each technical report at least every five years at which time it may be reaffirmed, revised, or canceled. SAE invites your written

comments and suggestions.

SAE J1939-21 Revised April 2001

5.2 PROTOCOL DATA UNIT (PDU)............................................................................................................ 10

5.2.1 Priority (P) ...................................................................................................................................... 11

5.2.2 Reserved Bit (R)............................................................................................................................. 11

5.2.3 Data Page (DP).............................................................................................................................. 11

5.2.4 PDU Format (PF) ........................................................................................................................... 13

5.2.5 PDU Specific (PS).......................................................................................................................... 13

5.2.5.1 Destination Address (DA)........................................................................................................ 13

5.2.5.2 Group Extension (GE) ............................................................................................................. 13

5.2.6 Source Address (SA) ..................................................................................................................... 14

5.2.7 Data Field....................................................................................................................................... 14

5.2.7.1 Data from 0 to 8 Bytes............................................................................................................. 14

5.2.7.2 Data from 9 Up to 1785 Bytes ................................................................................................. 14

5.3 P

ROTOCOL DATA UNIT (PDU) FORMATS ............................................................................................ 14

5.3.1 PDU1 Format ................................................................................................................................. 15

5.3.2 PDU2 Format ................................................................................................................................. 16

5.4 M

ESSAGE TYPES ............................................................................................................................... 17

5.4.1 Command....................................................................................................................................... 17

5.4.2 Request.......................................................................................................................................... 17

5.4.3 Broadcast/Response...................................................................................................................... 20

5.4.4 Acknowledgment............................................................................................................................ 20

5.4.5 Group Function .............................................................................................................................. 21

5.4.6 Request2 (R).................................................................................................................................. 22

5.4.7 Transfer (R).................................................................................................................................... 23

5.5 M

ESSAGE PRIORITY........................................................................................................................... 24

5.6 B

US ACCESS..................................................................................................................................... 25

5.7 C

ONTENTION-BASED ARBITRATION .................................................................................................... 25

5.8 E

RROR DETECTION............................................................................................................................ 25

5.9 A

SSIGNMENT PROCESS FOR SOURCE ADDRESSES AND PARAMETER GROUP NUMBERS ....................... 25

5.9.1 Address Assignment Criteria ......................................................................................................... 26

5.9.2 Parameter Group Assignment Criteria........................................................................................... 26

5.9.3 Data Field Definition....................................................................................................................... 27

5.10 T

RANSPORT PROTOCOL FUNCTIONS ................................................................................................. 27

5.10.1 Packetization and Reassembly...................................................................................................... 27

5.10.1.1 Message Packets .................................................................................................................... 27

5.10.1.2 Sequence Numbers................................................................................................................. 27

5.10.1.3 Packetization ........................................................................................................................... 27

Page 2 of 47

SAE J1939-21 Revised April 2001

5.10.1.4 Reassembly............................................................................................................................. 28

5.10.2 Connection Management............................................................................................................... 28

5.10.2.1 Multipacket Broadcast ............................................................................................................. 28

5.10.2.2 Connection Initiation ................................................................................................................ 28

5.10.2.3 Data Transfer........................................................................................................................... 29

5.10.2.4 Connection Closure ................................................................................................................. 29

5.10.3 Transport Protocol—Connection Management Messages (R)...................................................... 30

5.10.3.1 Connection Mode Request to Send (TP.CM_RTS) ................................................................ 32

5.10.3.2 Connection Mode Clear to Send (TP.CM_CTS) ..................................................................... 33

5.10.3.3 End of Message Acknowledgment (TP.CM_EndOfMsgACK)................................................. 33

5.10.3.4 Connection Abort (TP.Conn_Abort) ........................................................................................ 33

5.10.3.5 Broadcast Announce Message (BAM) .................................................................................... 34

5.10.4 Transport Protocol—Data Transfer Message (TP.DT) .................................................................. 34

5.10.5 Connection Constraints.................................................................................................................. 35

5.10.5.1 Number and Type of Connections a Node Must Support ....................................................... 35

5.10.5.2 Intended Transport Protocol Use ............................................................................................ 35

5.10.5.3 Concurrent PGN Reception..................................................................................................... 35

5.11 PDU P

ROCESSING REQUIREMENTS .................................................................................................. 35

5.12 A

PPLICATION NOTES ........................................................................................................................ 36

5.12.1 High Data Rates............................................................................................................................. 36

5.12.2 Request Scheduling....................................................................................................................... 36

5.12.3 Device Response Time and Timeout Defaults .............................................................................. 36

5.12.4 Required Responses ..................................................................................................................... 36

5.12.5 Transmission of PGNs to Specific or Global Destinations............................................................. 36

5.12.6 CTS Number of Packet Recommendation..................................................................................... 37

6 NOTES .................................................................................................................................................. 37

6.1 M

ARGINAL INDICIA ............................................................................................................................. 37

APPENDIX A SAE J1939 PDU PROCESSINGTYPICAL RECEIVE ROUTINE ................................... 38

APPENDIX B COMMUNICATION MESSAGE TYPES.............................................................................. 39

APPENDIX C TRANSPORT PROTOCOL TRANSFER SEQUENCES .................................................... 40

APPENDIX D ASSIGNMENTS OF SPNs FOR J1939-21 (R) .................................................................. 45

Page 3 of 47

SAE J1939-21 Revised April 2001

LIST OF FIGURES

Figure 1 CAN Data Frames ......................................................................................................................... 8

Figure 2 Application of OSI Model by SAE J1939 .......................................................................................8

Figure 3 Protocol Data Unit........................................................................................................................11

Figure 4 SAE J1939 Parameter Group Number Template........................................................................ 12

Figure 5 Available PDU Formats ...............................................................................................................15

Figure 6 PDU1 Format (R)........................................................................................................................16

Figure 7 PDU2 Format............................................................................................................................... 17

Figure 8 Request PGN Definition............................................................................................................... 18

Figure 9 Acknowledgment PGN Definition ................................................................................................21

Figure 10 Proprietary A PGN Definition.....................................................................................................22

Figure 11 Proprietary B PGN Definition.....................................................................................................22

Figure 12 Request2 PGN Format .............................................................................................................. 23

Figure 13 Transfer PGN Format ................................................................................................................ 24

Figure 14 Format of Messages for Transport Protocol..............................................................................31

Figure 15 Transport ProtocolData Transfer Message (TP.DT).............................................................. 34

Figure A1 Typical Receive Routine............................................................................................................ 38

Figure B1 Example of Communication Message Types............................................................................ 39

Figure C1 Data Transfer without Errors.....................................................................................................40

Figure C2 Data Transfer with Errors .......................................................................................................... 41

Figure C3 Broadcast Data Transfer ...........................................................................................................42

Figure C4 Data Transfer Utilizing RTS Maximum Number of Packets Capability (R).............................. 43

Figure C5 Data Transfer Not Able to Utilize RTS Maximum Number of Packets Capability (R).............. 44

LIST OF TABLES

Table 1 Mapping of SAE J1939 into CAN’s Arbitration and Control Fields ................................................. 9

Table 2 Parameter Group Number Examples ...........................................................................................10

Table 3 PDU Specific .................................................................................................................................13

Table 4 PDU1 and PDU2 Transmit, Request and Response Requirements ............................................18

Table 5 Use of the Specified Fields in SAE J1939s PDU1 Format ...........................................................19

Table 6 Connection Abort Reason (R)...................................................................................................... 34

Table D1 J1939-21 SPN Usage (R) .........................................................................................................45

Page 4 of 47

SAE J1939-21 Revised April 2001

1 SCOPE (R)

The SAE J1939 documents are intended for light, medium, and heavy-duty vehicles used on or off road

as well as appropriate stationary applications which use vehicle derived components (e.g. generator

sets). Vehicles of interest include, but are not limited to, on- and off-highway trucks and their trailers,

construction equipment, and agricultural equipment and implements.

The purpose of these documents is to provide an open interconnect system for electronic systems. It is

the intention of these documents to allow Electronic Control Units to communicate with each other by

providing a standard architecture.

This particular document, SAE J1939-21, describes the data link layer using the CAN protocol with 29-bit

Identifiers. For SAE J1939 no alternative data link layers are permitted.

2 R

EFERENCES

2.1 Applicable Publications

General information regarding this series of recommended practices is found in SAE J1939. The latest

issue of SAE publications shall apply. (R)

2.1.1 SAE Publications

Available from SAE, 400 Commonwealth Drive, Warrendale, PA 15096-0001.

SAE J1939 Recommended Practice for a Serial Control and Communications Vehicle Network is

the parent document and should be referenced in general.

SAE J1939-71 Vehicle Application Layer

SAE J1939-81 Network Management

2.2 Related Publications

The following publications are provided for information purposes only and are not a required part of this

document.

2.2.1 ISO Publications

Available from SAE, 400 Commonwealth Drive, Warrendale, PA 15096-0001.

ISO 11898 (Amended) Road Vehicles—Interchange of digital information—Controller area network

(CAN) for high-speed communications AMENDMENT 1

3 D

EFINITIONS

Terms and definitions are defined in SAE J1939.

4 A

BBREVIATIONS

ACK Acknowledgment

BAM Broadcast Announce Message

CAN Controller Area Network

CRC Cyclic Redundancy Check

CTS Clear-to-Send

DA Destination Address

DLC Data Length Code

DP Data Page

Page 5 of 47

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