Reviewing Diagnostics

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 3.5 SAFETY, CODESYS 3.5 SP19 SAFETY

Reviewing Diagnostics

This section describes how to review generated code for safety project diagnostics.

This guide focuses mainly on safety related implementation.

S_Safety_Status (PRG)

This program contains conditions for safety related diagnostic conditions.

Verify that the program checks the hardware specific diagnostic status OK flag
Verify that the program checks the SRDO signature valid condition
Verify that program checks the safety parameters valid condition
Verify that the program checks the GFC status

Error codes are added to application log only when device description includes SafeErrorLog library. In SC52 device description 3.5.10.6 or later is required.

The following is an example implementation of S_Safety_Status program

SC52 Safety Control UnitSC52 Safety Control Unit

Code:

IF EPEC_SHWD.S_SC52_Diagnostic.S_o_DiagStatusOk AND (* System diagnostic ok*)

i_Safe_InitDone AND (* Init has been executed successfully *)

i_Nonsafe_InitDone AND (*Non - safe init has been executed successfully *)

S_i_SafetySignaturesValid AND (*SRDO safety signatures are valid *)

S_i_SafetyParametersValid AND (*All safety parameters are valid *)

G_CANOPEN_GFC_VALID <> G_CANopen_CAN1_VAR.GFC_Status AND

(* No CANopen protocol errors *)

NOT Init_CANopen_CAN1.o_Error

THEN

S_o_SafeOperationEnable := TRUE;

ELSE

// Add error on falling edge

IF S_o_SafeOperationEnable THEN

EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode := ApplicationErrors.SAFE_OPERATION_DISABLED,

i_LibraryErrorCode := EPEC_SERRLOG.LibConstants.G_ErrorNA, i_Info1:=0, i_Info2:=0);

END_IF

S_o_SafeOperationEnable := FALSE;

// Check for GFC activation

EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode:=ApplicationErrors.GFC_STATUS,

i_LibraryErrorCode:=BYTE_TO_DINT(G_CANopen_CAN1_VAR.GFC_Status),i_Info1:=0, i_Info2:=1);

// Check HW diagnostic errors when diagnostic is enabled

// Following code is product specific

(*...*)

END_IF

SL84 Safety Control UnitSL84 Safety Control Unit

Code:

IF EPEC_SHWD.S_SL84_Diagnostic.S_o_DiagStatusOk AND (* System diagnostic ok*)

i_Safe_InitDone AND (* Init has been executed successfully *)

i_Nonsafe_InitDone AND (*Non - safe init has been executed successfully *)

S_i_SafetySignaturesValid AND (*SRDO safety signatures are valid *)

S_i_SafetyParametersValid AND (*All safety parameters are valid *)

G_CANOPEN_GFC_VALID <> G_CANopen_CAN1_VAR.GFC_Status AND

(* No CANopen protocol errors *)

NOT Init_CANopen_CAN1.o_Error

THEN

S_o_SafeOperationEnable := TRUE;

(*Output group 1 voltage status for output controls*)

IF EPEC_SHWD.S_SL84_Diagnostic.S_o_SupplyVoltageGroup1 >= G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_LOW_LIMIT AND

EPEC_SHWD.S_SL84_Diagnostic.S_o_SupplyVoltageGroup1 <= G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT

THEN

G_StatusFlags_Safe.S_OutputGroup1VoltageOK:=TRUE;

ELSE

G_StatusFlags_Safe.S_OutputGroup1VoltageOK:=FALSE;

END_IF

(*Output group 2 voltage status for output controls*)

IF EPEC_SHWD.S_SL84_Diagnostic.S_o_SupplyVoltageGroup2 >= G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_LOW_LIMIT AND

EPEC_SHWD.S_SL84_Diagnostic.S_o_SupplyVoltageGroup2 <= G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT

THEN

G_StatusFlags_Safe.S_OutputGroup2VoltageOK:=TRUE;

ELSE

G_StatusFlags_Safe.S_OutputGroup2VoltageOK:=FALSE;

END_IF

(*Output group 3 voltage status for output controls*)

IF EPEC_SHWD.S_SL84_Diagnostic.S_o_SupplyVoltageGroup3 >= G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_LOW_LIMIT AND

EPEC_SHWD.S_SL84_Diagnostic.S_o_SupplyVoltageGroup3 <= G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT

THEN

G_StatusFlags_Safe.S_OutputGroup3VoltageOK:=TRUE;

ELSE

G_StatusFlags_Safe.S_OutputGroup3VoltageOK:=FALSE;

END_IF

ELSE

// Add error on falling edge

IF S_o_SafeOperationEnable THEN

EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode := ApplicationErrors.SAFE_OPERATION_DISABLED,

i_LibraryErrorCode := EPEC_SERRLOG.LibConstants.G_ErrorNA, i_Info1:=0, i_Info2:=0);

END_IF

S_o_SafeOperationEnable := FALSE;

G_StatusFlags_Safe.S_OutputGroup1VoltageOK:=FALSE;

G_StatusFlags_Safe.S_OutputGroup2VoltageOK:=FALSE;

G_StatusFlags_Safe.S_OutputGroup3VoltageOK:=FALSE;

// Check for GFC activation

EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode:=ApplicationErrors.GFC_STATUS,

i_LibraryErrorCode:=BYTE_TO_DINT(G_CANopen_CAN1_VAR.GFC_Status),i_Info1:=0, i_Info2:=1);

// Check HW diagnostic errors when diagnostic is enabled

// Following code is product specific

(*...*)

END_IF

SL8X1-01 Control UnitSL8X1-01 Control Unit

Code:

IF EPEC_HWDIAG.S_SL8X1_Diagnostic.S_o_DiagStatusOk AND (* System diagnostic ok*)
i_Safe_InitDone AND (* Init has been executed successfully *)
i_Nonsafe_InitDone AND (*Non - safe init has been executed successfully *)
S_i_SafetySignaturesValid AND (*SRDO safety signatures are valid *)
S_i_SafetyParametersValid AND (*All safety parameters are valid *)
G_CANOPEN_GFC_VALID <> G_CANopen_CAN1_VAR.GFC_Status AND
   (* No CANopen protocol errors *)
   NOT Init_CANopen_CAN1.o_Error
THEN
S_o_SafeOperationEnable := TRUE;
ELSE
// Add error on falling edge
   IF S_o_SafeOperationEnable THEN
       EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode := ApplicationErrors.SAFE_OPERATION_DISABLED, i_LibraryErrorCode := EPEC_SERRLOG.LibConstants.G_ErrorNA, i_Info1:=0, i_Info2:=0);
   END_IF

   S_o_SafeOperationEnable := FALSE;

   // Check for CAN1 GFC activation
   EPEC_SERRLOG.S_AddError_DWORD(i_ErrorCode:=ApplicationErrors.GFC_STATUS, i_LibraryErrorCode:=BYTE_TO_DINT(G_CANopen_CAN1_VAR.GFC_Status), i_Info1:=0, i_Info2:=1);

// Check HW diagnostic errors

// Following code is product specific

(*...*)

END_IF

Following are product specific hardware diagnostic errors which are added to application log (when available).

SC52 Safety Control UnitSC52 Safety Control Unit

Code:

// Check HW diagnostic errors when diagnostic is enabled

IF EPEC_SHWD.S_SC52_Diagnostic.S_o_Running AND NOT EPEC_SHWD.S_SC52_Diagnostic.S_o_DiagStatusOk THEN

EPEC_SERRLOG.S_AddError_DWORD(

i_ErrorCode := ApplicationErrors.HW_DIAGNOSTIC_FAULT,

i_LibraryErrorCode := EPEC_SERRLOG.LibConstants.G_ErrorNA,

i_Info1 := 0,

i_Info2 := 0);

// output group 1

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_PWR_GRP_1,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_OutputGroup1Control_EC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_OutputGroup1Control_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_OutputGroup1Control_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_OutputGroup1Control_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// REF output

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_REF_1,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_RefControl_EC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_RefControl_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_RefControl_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_RefControl_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// supply voltage

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_SUPPLY,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_SupplyVoltag_EC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_SupplyVoltag_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_SupplyVoltag_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_SupplyVoltag_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// 5VAN

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_5VAN,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_5VAN_EC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_5VAN_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_5VAN_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_5VAN_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// MCU temperature

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_MCU_TEMP,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_MCUTemperatureEC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_MCUTemperatureEC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_MCUTemperatureEC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_MCUTemperatureEC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// SBC temperature

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_SBC_TEMP,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_SBCTemperatureEC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_SBCTemperatureEC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_SBCTemperatureEC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_SBCTemperatureEC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// PCB temperature 1

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_PCB_TEMP_1,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh1_EC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh1_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh1_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh1_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// PCB temperature 2

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_PCB_TEMP_2,

i_LibraryErrorCode := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh2_EC.EventID,

i_Info1 := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh2_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh2_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SC52_Diagnostic.o_PCBTemperatureCh2_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

END_IF

SL84 Safety Control UnitSL84 Safety Control Unit

Code:

// Check HW diagnostic errors when diagnostic is enabled

IF EPEC_SHWD.S_SL84_Diagnostic.S_o_Running AND NOT EPEC_SHWD.S_SL84_Diagnostic.S_o_DiagStatusOk THEN

EPEC_SERRLOG.S_AddError_DWORD(

i_ErrorCode := ApplicationErrors.HW_DIAGNOSTIC_FAULT,

i_LibraryErrorCode := EPEC_SERRLOG.LibConstants.G_ErrorNA,

i_Info1 := 0,

i_Info2 := 0);

// Supply voltage group 1

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_PWR_GRP_1,

i_LibraryErrorCode := EPEC_SHWD.S_SL84_Diagnostic.o_SupplyVoltageGroup1_EC.EventID,

i_Info1 := EPEC_SHWD.S_SL84_Diagnostic.o_SupplyVoltageGroup1_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SL84_Diagnostic.o_SupplyVoltageGroup1_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SL84_Diagnostic.o_SupplyVoltageGroup1_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// REF output

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_REF_1,

i_LibraryErrorCode := EPEC_SHWD.S_SL84_Diagnostic.o_RefControl_EC.EventID,

i_Info1 := EPEC_SHWD.S_SL84_Diagnostic.o_RefControl_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SL84_Diagnostic.o_RefControl_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SL84_Diagnostic.o_RefControl_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// MCU temperature

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_MCU_TEMP,

i_LibraryErrorCode := EPEC_SHWD.S_SL84_Diagnostic.o_MCUTemperatureEC.EventID,

i_Info1 := EPEC_SHWD.S_SL84_Diagnostic.o_MCUTemperatureEC.FunctionID,

i_Info2 := EPEC_SHWD.S_SL84_Diagnostic.o_MCUTemperatureEC.DeviceID,

i_Info3 := EPEC_SHWD.S_SL84_Diagnostic.o_MCUTemperatureEC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// SBC temperature

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_SBC_TEMP,

i_LibraryErrorCode := EPEC_SHWD.S_SL84_Diagnostic.o_SBCTemperatureEC.EventID,

i_Info1 := EPEC_SHWD.S_SL84_Diagnostic.o_SBCTemperatureEC.FunctionID,

i_Info2 := EPEC_SHWD.S_SL84_Diagnostic.o_SBCTemperatureEC.DeviceID,

i_Info3 := EPEC_SHWD.S_SL84_Diagnostic.o_SBCTemperatureEC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

// PCB temperature

EPEC_SERRLOG.S_AddError_BYTE(

i_ErrorCode := ApplicationErrors.HW_DIAG_IN_PCB_TEMP_1,

i_LibraryErrorCode := EPEC_SHWD.S_SL84_Diagnostic.o_PCBTemperatureCh1_EC.EventID,

i_Info1 := EPEC_SHWD.S_SL84_Diagnostic.o_PCBTemperatureCh1_EC.FunctionID,

i_Info2 := EPEC_SHWD.S_SL84_Diagnostic.o_PCBTemperatureCh1_EC.DeviceID,

i_Info3 := EPEC_SHWD.S_SL84_Diagnostic.o_PCBTemperatureCh1_EC.ChannelID,

i_Info4 := 0,

i_Info5 := 0,

i_Info6 := 0,

i_Info7 := 0,

i_Info8 := 0);

END_IF

SL8X1-01 Control UnitSL8X1-01 Control Unit

Code:

   IF EPEC_HWDIAG.S_SL8X1_Diagnostic.o_DiagEnableStates.OutputGroup1_Diagnostic_Enable AND NOT EPEC_HWDIAG.S_SL8X1_Diagnostic.S_o_DiagStatusOk THEN
       // Trigger error if S_o_DiagStatusOk is not OK after output group diagnostic is enabled
       EPEC_SERRLOG.S_AddError_DWORD(
           i_ErrorCode := ApplicationErrors.HW_DIAGNOSTIC_FAULT,
           i_LibraryErrorCode := EPEC_SERRLOG.LibConstants.G_ErrorNA,
           i_Info1 := 0,
           i_Info2 := 0);
   END_IF
   // output group 1
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_PWR_GRP_1,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_OutputGroup1Control_EC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_OutputGroup1Control_EC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_OutputGroup1Control_EC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_OutputGroup1Control_EC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

   // REF A output
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_REF_1,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefAControl_EC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefAControl_EC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefAControl_EC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefAControl_EC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

   // REF B output
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_OUT_REF_2,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefBControl_EC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefBControl_EC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefBControl_EC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_RefBControl_EC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

   // supply voltage
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_IN_SUPPLY,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_SupplyVoltage_EC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_SupplyVoltage_EC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_SupplyVoltage_EC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_SupplyVoltage_EC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

   // MCU temperature
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_IN_MCU_TEMP,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_MCUTemperatureEC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_MCUTemperatureEC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_MCUTemperatureEC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_MCUTemperatureEC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

   // PCB temperature 1
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_IN_PCB_TEMP_1,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh1_EC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh1_EC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh1_EC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh1_EC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

   // PCB temperature 2
   EPEC_SERRLOG.S_AddError_BYTE(
       i_ErrorCode := ApplicationErrors.HW_DIAG_IN_PCB_TEMP_2,
       i_LibraryErrorCode := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh2_EC.EventID,
       i_Info1 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh2_EC.FunctionID,
       i_Info2 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh2_EC.DeviceID,
       i_Info3 := EPEC_HWDIAG.S_SL8X1_Diagnostic.o_PCBTemperatureCh2_EC.ChannelID,
       i_Info4 := 0,
       i_Info5 := 0,
       i_Info6 := 0,
       i_Info7 := 0,
       i_Info8 := 0);

S_PLC_PRG

Verify that the hardware specific diagnostic program's Init method is executed at the initialization phase

The following are product specific examples of HW diagnostic Init

SC52 Safety Control UnitSC52 Safety Control Unit

Code:

ELSIF NOT EPEC_SHWD.S_SC52_Diagnostic.S_o_InitReady THEN

EPEC_SHWD.S_SC52_Diagnostic.Init(

S_i_SupplyVoltageHighLimit := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT,

S_i_SupplyVoltageLowLimit := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_LOW_LIMIT,

S_i_SupplyVoltageDiagDelay := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_DELAY,

S_i_5VRefControlTolerance := G_CONSTANTS.DIAG_5V_REF_TOLERANCE,

S_i_5VRefControlDiagDelay := G_CONSTANTS.DIAG_5V_REF_DELAY,

S_i_OutputGroup1HighVoltage := G_CONSTANTS.DIAG_OUTPUT_GROUP1_HIGH_LIMIT,

S_i_OutputGroup1LowVoltage:= G_CONSTANTS.DIAG_OUTPUT_GROUP1_LOW_LIMIT,

S_i_OutputGroup1DiagDelay:= G_CONSTANTS.DIAG_OUTPUT_GROUP1_DELAY,

S_i_5VANHighVoltage:= G_CONSTANTS.DIAG_5V_VAN_HIGH_LIMIT,

S_i_5VANLowVoltage:= G_CONSTANTS.DIAG_5V_VAN_LOW_LIMIT,

S_i_5VANDiagDelay:= G_CONSTANTS.DIAG_5V_VAN_DELAY,

S_i_TemperatureHighLimit:= G_CONSTANTS.DIAG_TEMP_HIGH_LIMIT,

S_i_TemperatureLowLimit:= G_CONSTANTS.DIAG_TEMP_LOW_LIMIT,

S_i_TemperatureDiagDelay:= G_CONSTANTS.DIAG_TEMP_DELAY);

SL84 Safety Control UnitSL84 Safety Control Unit

Code:

ELSIF NOT EPEC_SHWD.S_SL84_Diagnostic.S_o_InitReady THEN

EPEC_SHWD.S_SL84_Diagnostic.Init(

S_i_SupplyVoltageHighLimit := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT,

S_i_SupplyVoltageLowLimit := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_LOW_LIMIT,

S_i_SupplyVoltageDiagDelay := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_DELAY,

S_i_RefControlDiagDelay := G_CONSTANTS.DIAG_5V_REF_DELAY,

S_i_TemperatureHighLimit:= G_CONSTANTS.DIAG_TEMP_HIGH_LIMIT,

S_i_TemperatureLowLimit:= G_CONSTANTS.DIAG_TEMP_LOW_LIMIT,

S_i_TemperatureDiagDelay:= G_CONSTANTS.DIAG_TEMP_DELAY);

SL8X1-01 Control UnitSL8X1-01 Control Unit

Code:

   ELSIF NOT EPEC_HWDIAG.S_SL8X1_Diagnostic.o_InitReady THEN
       EPEC_HWDIAG.S_SL8X1_Diagnostic.Init(
           S_i_SupplyVoltageHighLimit := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT,
           S_i_SupplyVoltageLowLimit := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_LOW_LIMIT,
           S_i_SupplyVoltageDiagDelay := G_CONSTANTS.DIAG_SUPPLY_VOLTAGE_DELAY,
           S_i_RefAInUse := TRUE,
           S_i_RefAType5V := TRUE,
           S_i_RefAControlTolerance := G_CONSTANTS.DIAG_REF_5V_TOLERANCE,
           S_i_RefAControlDiagDelay := G_CONSTANTS.DIAG_REF_5V_DELAY,
           S_i_RefAControlChangeDiagDelay := G_CONSTANTS.DIAG_REF_5V_CONTROL_CHANGE_DELAY,
           S_i_RefBInUse := TRUE,
           S_i_RefBType5V := FALSE,
           S_i_RefBControlTolerance := G_CONSTANTS.DIAG_REF_10V_TOLERANCE,
           S_i_RefBControlDiagDelay := G_CONSTANTS.DIAG_REF_10V_DELAY,
           S_i_RefBControlChangeDiagDelay := G_CONSTANTS.DIAG_REF_10V_CONTROL_CHANGE_DELAY,
           S_i_OutputGroup1HighVoltage := G_CONSTANTS.DIAG_OUTPUT_GROUP1_HIGH_LIMIT,
           S_i_OutputGroup1LowVoltage := G_CONSTANTS.DIAG_OUTPUT_GROUP1_LOW_LIMIT,
           S_i_OutputGroup1DiagDelay := G_CONSTANTS.DIAG_OUTPUT_GROUP1_DELAY,
           S_i_MCUTemperatureHighLimit := G_CONSTANTS.DIAG_MCU_TEMP_HIGH_LIMIT,
           S_i_MCUTemperatureLowLimit := G_CONSTANTS.DIAG_MCU_TEMP_LOW_LIMIT,
           S_i_MCUTemperatureDiagDelay := G_CONSTANTS.DIAG_MCU_TEMP_DELAY,
           S_i_PCB1TemperatureHighLimit := G_CONSTANTS.DIAG_PCB1_TEMP_HIGH_LIMIT,
           S_i_PCB1TemperatureLowLimit := G_CONSTANTS.DIAG_PCB1_TEMP_LOW_LIMIT,
           S_i_PCB1TemperatureDiagDelay := G_CONSTANTS.DIAG_PCB1_TEMP_DELAY,
           S_i_PCB2TemperatureHighLimit := G_CONSTANTS.DIAG_PCB2_TEMP_HIGH_LIMIT,
           S_i_PCB2TemperatureLowLimit := G_CONSTANTS.DIAG_PCB2_TEMP_LOW_LIMIT,
           S_i_PCB2TemperatureDiagDelay := G_CONSTANTS.DIAG_PCB2_TEMP_DELAY
       );

Verify that the hardware specific diagnostic program is executed at the run phase
- The program call does not set the output group or reference voltage control inputs; they are controlled by the application (see How to use S series and E series HW diagnostics).

The following are product specific examples of HW diagnostic

SC52 Safety Control UnitSC52 Safety Control Unit

Code:

ELSIF PLC_PRG.o_Initdone THEN

(* Safe actions to execute before safe main program *)

S_Inputs(i_Initialize:=FALSE);

(*...*)

EPEC_SHWD.S_SC52_Diagnostic(

i_5VRefChannel1:= S_Inputs.o_AI_REF_5V_MAIN_Diagnostic,

i_5VRefChannel2:=S_Inputs.o_AI_REF_5V_RED_Diagnostic,

i_SupplyVoltageInPin := S_Inputs.o_AI_SUPPLY_PIN_VOLTAGE_Diagnostic,

i_SupplyBeforeSafetySwitch1:= S_Inputs.o_AI_POWER1_SUPPLY_Diagnostic,

i_SupplyAfterSafetySwitch1 := S_Inputs.o_AI_POWER1_OUTPUT_Diagnostic,

i_5VANChannel1:=S_Inputs.o_AI_5V_VAN_MAIN_Diagnostic,

i_5VANChannel2:=S_Inputs.o_AI_5V_VAN_RED_Diagnostic,

i_MCUTemperature:=S_Inputs.o_TEMP_MCU_Diagnostic,

i_SBCTemperature:=S_Inputs.o_TEMP_SBC_Diagnostic,

i_PCBTemperatureChannel1:=S_Inputs.o_TEMP_PCB_MAIN_Diagnostic,

i_PCBTemperatureChannel2:=S_Inputs.o_TEMP_PCB_RED_Diagnostic,

i_Negative5V:=S_Inputs.o_AI_5V_NEG_Diagnostic);

SL84 Safety Control UnitSL84 Safety Control Unit

Code:

ELSIF PLC_PRG.o_Initdone THEN

(* Safe actions to execute before safe main program *)

S_Inputs(i_Initialize:=FALSE);

(*...*)

EPEC_SHWD.S_SL84_Diagnostic(

i_RefChannel1 := S_Inputs.o_AI_5V_REF_Diagnostic,

i_SupplyVoltageGroup1 := S_Inputs.o_AI_POWER1_SUPPLY_Diagnostic,

i_SupplyVoltageGroup2 := S_Inputs.o_AI_POWER2_SUPPLY_Diagnostic,

i_SupplyVoltageGroup3 := S_Inputs.o_AI_POWER3_SUPPLY_Diagnostic,

i_MCUTemperature := S_Inputs.o_TEMP_MCU_Diagnostic,

i_SBCTemperature := S_Inputs.o_AI_SBC_TEMP_Diagnostic,

i_PCBTemperatureChannel1 := S_Inputs.o_AI_PCB_TEMP_Diagnostic);

SL8X1-01 Control unitSL8X1-01 Control unit

Code:

ELSIF PLC_PRG.o_Initdone THEN

(* Safe actions to execute before safe main program *)

S_Inputs(i_Initialize:=FALSE);

(*...*)

EPEC_HWDIAG.S_SL8X1_Diagnostic(
i_SupplyVoltageInPin := S_Inputs.o_AI_VIN_V_Diagnostic,
i_SupplyBeforeSafetySwitch1:= S_Inputs.o_AI_VIN_V_Diagnostic,
i_SupplyAfterSafetySwitch1:= S_Inputs.o_AI_VOUT_SAFE_Diagnostic,
i_RefAChannel1:= S_Inputs.o_AI_5V_REF_OUTPUT_MAIN_Diagnostic,
i_RefAChannel2:= S_Inputs.o_AI_5V_REF_OUTPUT_RED_Diagnostic,
i_RefBChannel1:= S_Inputs.o_AI_10V_REF_OUTPUT_MAIN_Diagnostic,
i_RefBChannel2:= S_Inputs.o_AI_10V_REF_OUTPUT_RED_Diagnostic,
i_MCUTemperature:= S_Inputs.o_AI_MCU_C_Diagnostic,
i_PCBTemperatureChannel1:= S_Inputs.o_AI_PCB_1_V_Diagnostic,
i_PCBTemperatureChannel2:= S_Inputs.o_AI_PCB_2_V_Diagnostic,
i_CableDetectionSavedNodeId := TO_BYTE(G_SystemInfo.WireHarnessId[28]), // use stored offset as saved value
i_CableDetectionDetectedNodeId := TO_BYTE(G_SystemInfo.WireHarnessId[27]) // use calculated offset as detected value
);

Verify that the S_Safety_Status program is executed at the run phase.
- Program output sets G_StatusFlags_Safe.S_SafeOperationEnable

Safety related application shall go to safe state when S_SafeOperationEnable is FALSE.

The following is an example of SC52 Safety Control Unit when SRDO messages and safety parameters are both used.

SRDO signature and safety parameter CRC are considered valid if they are not used.

Code:

EPEC_SHWD.S_SC52_Diagnostic(...);

S_Safety_Status(i_Safe_InitDone:= o_InitDone,

i_Nonsafe_InitDone:= PLC_PRG.o_InitDone,

S_i_SafetySignaturesValid:= S_ValidateConfigurations.o_SRDOSignaturesValid,

S_i_SafetyParametersValid:= S_ValidateConfigurations.o_ParametersValid,

S_o_SafeOperationEnable => G_StatusFlags_Safe.S_SafeOperationEnable);

G_CONSTANTS (GVL)

The limits used in hardware diagnostic initialization are defined in the G_CONSTANTS global variable list.

In MultiTool 6.3 or later, or MultiTool Creator it is possible to adjust some of the limits in MultiTool Creator's diagnostic tab. In previous versions, the constant values are hardcoded.

Verify that the generated constant values are within range.

SC52 Safety Control UnitSC52 Safety Control Unit

The following constants are generated for the SC52 Safety Control Unit.

Constant	Unit	Default value	Min	Max
DIAG_TEMP_HIGH_LIMIT	°C	105	DIAG_TEMP_LOW_LIMIT	105
DIAG_TEMP_LOW_LIMIT	°C	-35	-35	DIAG_TEMP_HIGH_LIMIT
DIAG_TEMP_DELAY	ms	50	0	100
DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT	mV	34000	DIAG_SUPPLY_VOLTAGE_LOW_LIMIT	34000
DIAG_SUPPLY_VOLTAGE_LOW_LIMIT	mV	9000	9000	DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT
DIAG_SUPPLY_VOLTAGE_DELAY	ms	95	0	100
DIAG_OUTPUT_GROUP1_HIGH_LIMIT	mV	34000	DIAG_OUTPUT_GROUP1_LOW_LIMIT	34000
DIAG_OUTPUT_GROUP1_LOW_LIMIT	mV	9000	9000	DIAG_OUTPUT_GROUP1_HIGH_LIMIT
DIAG_OUTPUT_GROUP1_DELAY	ms	95	0	100
DIAG_5V_VAN_HIGH_LIMIT	mV	5250	Not adjustable	Not adjustable
DIAG_5V_VAN_LOW_LIMIT	mV	4750	Not adjustable	Not adjustable
DIAG_5V_VAN_DELAY	ms	50	Not adjustable	Not adjustable
DIAG_5V_REF_DELAY	ms	50	0	100
DIAG_5V_REF_TOLERANCE	‰	100	0	1000

SL84 Safety Control UnitSL84 Safety Control Unit

The following constants are generated for the SL84 Safety Control Unit.

Constant	Unit	Default value	Min	Max
DIAG_TEMP_HIGH_LIMIT	°C	105	DIAG_TEMP_LOW_LIMIT	105
DIAG_TEMP_LOW_LIMIT	°C	-35	-35	DIAG_TEMP_HIGH_LIMIT
DIAG_TEMP_DELAY	ms	50	0	100
DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT	mV	34000	DIAG_SUPPLY_VOLTAGE_LOW_LIMIT	34000
DIAG_SUPPLY_VOLTAGE_LOW_LIMIT	mV	9000	9000	DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT
DIAG_SUPPLY_VOLTAGE_DELAY	ms	95	0	100
DIAG_5V_REF_DELAY	ms	50	0	100

SL8X1-01 Control UnitSL8X1-01 Control Unit

The following constants are generated for the SL8X1-01 Control Unit.

Constant	Unit	Default value	Min	Max
DIAG_MCU_TEMP_HIGH_LIMIT	°C	125	DIAG_MCU_TEMP_LOW_LIMIT	125
DIAG_MCU_TEMP_LOW_LIMIT	°C	-40	-40	DIAG_MCU_TEMP_HIGH_LIMIT
DIAG_MCU_TEMP_DELAY	ms	50	0	100
DIAG_PCB1_TEMP_HIGH_LIMIT	°C	125	DIAG_PCB1_TEMP_LOW_LIMIT	125
DIAG_PCB1_TEMP_LOW_LIMIT	°C	-45	-45	DIAG_PCB1_TEMP_HIGH_LIMIT
DIAG_PCB1_TEMP_DELAY	ms	100	0	10000
DIAG_PCB2_TEMP_HIGH_LIMIT	°C	105	DIAG_PCB2_TEMP_LOW_LIMIT	105
DIAG_PCB2_TEMP_LOW_LIMIT	°C	-40	-40	DIAG_PCB2_TEMP_HIGH_LIMIT
DIAG_PCB2_TEMP_DELAY	ms	100	0	10000
DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT	mV	32000	DIAG_SUPPLY_VOLTAGE_LOW_LIMIT	33000
DIAG_SUPPLY_VOLTAGE_LOW_LIMIT	mV	4500	0	DIAG_SUPPLY_VOLTAGE_HIGH_LIMIT
DIAG_SUPPLY_VOLTAGE_DELAY	ms	450	0	450
DIAG_OUTPUT_GROUP1_HIGH_LIMIT	mV	37000	DIAG_OUTPUT_GROUP1_LOW_LIMIT	37000
DIAG_OUTPUT_GROUP1_LOW_LIMIT	mV	4500	0	DIAG_OUTPUT_GROUP1_HIGH_LIMIT
DIAG_OUTPUT_GROUP1_DELAY	ms	100	0	100
DIAG_REF_5V_DELAY	ms	60	0	80
DIAG_REF_5V_CONTROL_CHANGE_DELAY	ms	500	0	3000
DIAG_REF_10V_DELAY	ms	60	0	80
DIAG_REF_10V_CONTROL_CHANGE_DELAY	ms	500	0	3000
DIAG_REF_5V_TOLERANCE	‰	15	Not adjustable	Not adjustable
DIAG_REF_10V_TOLERANCE	‰	30	Not adjustable	Not adjustable

Reviewing Diagnostics

See also