Epec Programming and Libraries Manual
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Supported platforms: CODESYS 3.5, CODESYS 3.5 SAFETY

 

How to use application error log

This section describes how to use application error log with S Series and E Series control units.

 

Application error log is implemented in MultiTool Creator code template using SafeErrorLog safety library.

 

Introduction

SafeErrorLog library provides POUs and data structures for error logging which is possible to use within safety related application code.

Application error log is not intended for implementing safety related functionalities but only for diagnostic and debugging purposes.

 

Purpose is to make it easier to identify and debug which part of the application has caused error(s).

These errors may have led to safe state, depending on error and application.

 

It is possible to read log data from:

Error log can be used in parallel with event system or other CAN based error protocols (e.g. CANopen EMCY).

Operation

Log data is stored in application’s non-safety RAM memory so that errors can be triggered from safety and non-safety application code.

Log is located in code template's global variable list CodeTemplate > Globals > G_Logs.

 

Log is initialized automatically by code template using S_InitLog function.

 

Errors are added automatically to log by code template using S_AddError_<type> function.

Error triggering is done in existing code template programs when errors occur.

Log contains errors in activation order and only first instance of each error.

For more information, see SafeErrorLog library documentation.

 

Error log line (see SafeErrorLog Data Types) includes two error codes and 8 bytes of additional information.

For more information, see Interpreting errors below.

 

Error codes

Error codes are defined by code template.

 

Error code enumeration is located in POUs tab > CodeTemplate > Enumerations > ApplicationErrors (ENUM).

 

ApplicationErrors (DINT ENUM)ApplicationErrors (DINT ENUM)

Name

Numeric value

Description

NO_ERROR

0

No error, not added to log

FW_ERROR

1

Handle_Firmware_Errors: Used for errors read from FW log

SAFE_OPERATION_DISABLED

2

S_Safety_Status: Falling edge of safe operation enable

USER_APPLICATION

1000

Reserved for end-user application usage

IO_INIT

2000

S_Init_IO/Init_IO: Error in I/O initialization

CAN_INIT

3000

Init_CAN: CANVXD channel initialization error

INPUTS

4000

S_Inputs / Inputs: Error in input pin

OUTPUTS

5000

S_Outputs / Outputs: Reserved for future

OUTPUTS_FW

5001

S_Outputs / Outputs: Firmware error in output

HW_DIAGNOSTIC_FAULT

6000

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

HW diagnostic not OK

HW_DIAG_OUT_PWR_GRP_1

6100

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in output group 1

HW_DIAG_OUT_REF_1

6101

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in REF output

HW_DIAG_IN_SUPPLY

6200

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in supply voltage monitoring

HW_DIAG_IN_5VAN

6201

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in 5VAN diagnostic

HW_DIAG_IN_MCU_TEMP

6202

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in MCU temperature monitoring

HW_DIAG_IN_SBC_TEMP

6203

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in SBC temperature monitoring

HW_DIAG_IN_PCB_TEMP_1

6204

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in PCB 1 temperature

HW_DIAG_IN_PCB_TEMP_2

6205

S_SafetyStatus (safety control units)

Handle_Diagnostic (control units)

Error in PCB 2 temperature

NVRAM_INIT

7000

NVMemory: initialization error

NVRAM_INPUT

7001

NVMemory: input error

NVRAM_FW

7002

NVMemory: Firmware interface error

NVRAM_OD

7003

NVMemory: CANopen OD error

NVRAM_FASTPAR

7004

NVMemory: Fast parameter error

VALIDATE_SAFE_PAR

8000

S_ValidateParameters_CANX: Safety parameter validation error

VALIDATE_SRDO_SIGNATURE

9000

S_ValidateSRDOSignatures_CANX: SRDO signature validation error

VALIDATE_SRDO

10000

S_Validate_SRDOs_CANX: SRDO validation error

GFC_STATUS

11000

S_SafetyStatus: GFC activated

J1939

12000

Handle_J1939_CANX: J1939 protocol error

J1939_ACL

12001

Handle_J1939_CANX: Address claim server error

J1939_ACL_PGN

12002

Handle_J1939_CANX: ACL DeviceToPGN function block error

CANOPEN_INIT_OD

13000

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_NMT

13001

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_SSDO

13002

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_CSDO

13003

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_HB

13004

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_SYNC

13005

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_EMCY

13006

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_PDO

13007

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_SRDO

13008

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_INIT_GFC

13009

Init_CANopen_CANX: CANopen protocol error in init

CANOPEN_UPDATE_OD

14000

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_NMT

14001

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_SSDO

14002

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_CSDO

14003

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_HB

14004

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_SYNC

14005

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_EMCY

14006

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_PDO

14007

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_SRDO

14008

Handle_CANopen_CANX: CANopen protocol error

CANOPEN_UPDATE_GFC

14009

Handle_CANopen_CANX: CANopen protocol error

 

 

 

Reading log

CODESYS

Application log count variable indicates how many errors have been triggered since application start.

 

Loglines array includes errors in activation order.

 

CANopen

Code template includes two OD indexes for application log:

SDO block transfer is not supported for reading the log.

Log line 32-bit variables are in native byte order (big endian) when read from OD index.

 

Following is example log lines from 2171h:

Above log lines are interpreted in following way:

  1. timestamp 0x20C (524ms), error code 0x7D0 (2000), library error code 0x88A5 (34981), additional info 0, 0x1, 0, 0x23, 0, 0, 0, 0

  2. timestamp 0x252 (594ms), error code 0x36B1 (14001), library error code 0xFFFFFAA5 (-1371), additional info 0, 0, 0, 0, 0, 0, 0, 0x1

  3. timestamp 0x253 (595ms), error code 0x1B5B (7003), library error code 0x2 (2), additional info 0, 0, 0, 0, 0, 0, 0, 0

  4. timestamp 0x253 (595ms), error code 0x1B5C (7004), library error code 0x2 (2), additional info 0, 0, 0, 0, 0, 0, 0, 0

  5. timestamp 0x25D (605ms), error code 0x1770 (6000), library error code 0x7FFFFFFF (N/A), additional info 0, 0, 0, 0, 0, 0, 0, 0

 

Interpreting errors

Following errors are common for all S/E-series control units (when corresponding POU is generated).

 

Code template POU(s)

Error code

(ApplicationErrors)

Library

error code

Infos [1..8]

Handle_Firmware_Errors

FW_ERROR

 

Error from FW log entry

EPEC_SYSTEM SYSTEM_ERROR_CODES

Info from FW log entry

see SystemLogEntry

Identifier from FW log entry

see SystemLogEntry

S_Init_IO

Init_IO

IO_INIT

FW error code from I/O driver

EPEC_SYSTEM SYSTEM_ERROR_CODES

N/A

Connector number

N/A

Pin number

Reserved for error specific info

Init_CAN

CAN_INIT

EPEC_CANVXD Error

N/A

N/A

N/A

N/A

N/A

N/A

N/A

CAN number

S_Inputs

Inputs

INPUTS

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

Connector number

Pin number

N/A

 

N/A

 

N/A

 

Reserved

OUTPUTS

Reserved for future

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

S_Outputs

Outputs

OUTPUTS_FW

EPEC_HW

PWMChannelStatus

32-bit status flag mask from FW (init OK filtered out)

N/A

Connector number

N/A

Pin number

Reserved for error specific info

NVMemory

NVRAM_INIT

Boolean error flag

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

NVMemory

NVRAM_INPUT

Boolean error flag

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

NVMemory

NVRAM_FW

EPEC_SYSTEM SYSTEM_ERROR_CODES

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

NVMemory

NVRAM_OD

EPEC_PH ParamHandlerStatus

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

NVMemory

NVRAM_FASTPAR

EPEC_PH ParamHandlerStatus

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

Handle_J1939_CANX

J1939

EPEC_J1939 J1939_ReturnCodes

N/A

N/A

N/A

N/A

N/A

N/A

N/A

CAN

number

Handle_J1939_CANX

J1939_ACL

EPEC_ACL ServerErrors

N/A

N/A

N/A

N/A

N/A

N/A

N/A

CAN

number

Handle_J1939_CANX

J1939_ACL_PGN

EPEC_ACL DeviceToPGNErrors

N/A

N/A

PGN number

N/A

N/A

N/A

CAN

number

Init_CANopen_CANX

CANOPEN_INIT_<protocol>

EPEC_CANopen Errors

N/A

N/A

N/A

N/A

N/A

N/A

N/A

CAN

number

Handle_CANopen_CANX

CANOPEN_UPDATE_<protocol>

EPEC_CANopen Errors

N/A

N/A

N/A

N/A

N/A

N/A

N/A

CAN

number

 

Following errors are included in Safety Control Unit only (when corresponding POU is generated).

 

Code template POU(s)

Error code

(ApplicationErrors)

Library

error code

Infos [1..8]

S_Safety_Status

SAFE_OPERATION_DISABLED

N/A

(EPEC_SERRLOG G_ErrorNA)

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

S_ValidateParameters_CANX

VALIDATE_SAFE_PAR

EPEC_DITF EventCode.EventID

N/A

N/A

Safety parameter OD index which failed validation

N/A

N/A

N/A

CAN

number

S_ValidateSRDOSignatures_CANX

VALIDATE_SRDO_SIGNATURE

EPEC_DITF EventCode.EventID

N/A

N/A

N/A

SRDO number which failed validation

N/A

N/A

N/A

CAN

number

S_Validate_SRDOs_CANX

VALIDATE_SRDO

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

CAN

number

S_Safety_Status

GFC_STATUS

GFC status value

N/A

N/A

N/A

N/A

N/A

N/A

N/A

CAN

number

 

 

Hardware diagnostic errors are control unit specific.

 

SC52 Safety Control UnitSC52 Safety Control Unit

Code template POU(s)

Error code

(ApplicationErrors)

Library

error code

Infos [1..8]

S_Safety_Status

HW_DIAGNOSTIC_FAULT

N/A

(EPEC_SERRLOG G_ErrorNA)

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_OUT_PWR_GRP_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_OUT_REF_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_SUPPLY

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_5VAN

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_MCU_TEMP

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_SBC_TEMP

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_PCB_TEMP_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_PCB_TEMP_2

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

 

 

 

 

SL84 Safety Control UnitSL84 Safety Control Unit

Code template POU(s)

Error code

(ApplicationErrors)

Library

error code

Infos [1..8]

S_Safety_Status

HW_DIAGNOSTIC_FAULT

N/A

(EPEC_SERRLOG G_ErrorNA)

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_OUT_PWR_GRP_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_OUT_REF_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_MCU_TEMP

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_SBC_TEMP

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

S_Safety_Status

HW_DIAG_IN_PCB_TEMP_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

 

 

 

 

EC44 Control UnitEC44 Control Unit

Code template POU(s)

Error code

(ApplicationErrors)

Library

error code

Infos [1..8]

Handle_Diagnostic

HW_DIAGNOSTIC_FAULT

N/A

(EPEC_SERRLOG G_ErrorNA)

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_OUT_PWR_GRP_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_OUT_REF_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_IN_SUPPLY

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_IN_5VAN

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_IN_MCU_TEMP

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_IN_SBC_TEMP

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_IN_PCB_TEMP_1

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

Handle_Diagnostic

HW_DIAG_IN_PCB_TEMP_2

EPEC_DITF EventCode.EventID

EPEC_DITF EventCode.

FunctionID

EPEC_DITF EventCode. DeviceID

EPEC_DITF EventCode. ChannelID

N/A

N/A

N/A

N/A

N/A

 

 

 

 

See also

 

 

Source file topic100608.htm

Last updated 13-Jun-2024