Diagnostic description

Structure

The diagnostic provides important information about the health of the system and its parts. It is always streamed on a dedicated virtual port, port 9, and is structured in JSON.

Diagnostic

Key

Value

Description

"bootid"

String

A unique number that identifies the boot session.

"events"

List

The list of diagnostic messages that are currently active or previously occurred during this boot session. The content of the diagnostic messages is described in the events section.

"groups"

Dict

For each application and port, a status is provided. It is an aggregated view of all the diagnostic messages related to this app or port. For more details, refer to the groups description.

"timestamps"

Int

The timestamp of the diagnostic report.

"version"

Dict

The current version of the firmware and of the diagnostic template.

Events

Key

Value

Description

"description"

String

The description of the error.

"id"

Int

The error identification number.

"name"

String

The error name.

"severity"

["critical", "major", "minor", "info"]

"critical": The error will not recover itself and data received in this state is not reliable. The user must intervene to resolve this error.
"major": The error might heal itself but data received in this state is not reliable.
"minor": A condition is present which may limit performance or functionality.
"info": All other diagnostics.

"source"

String

The source of the error, that is, the component that detected the error. See more about sources below.

"state"

["active", "dormant"]

The state of the error. If the error is healed within the same boot session, its state will become dormant.

"stats"

Dict

Statistics regarding this event: how many times it was activated, timestamp of the last activation and deactivation, etc.

Sources

The diagnostic sources can be mapped to system components as follows:

  • "/applications/instances/appX[/...]": the application appX.

  • "/applications/instances/appX/ports/portY[/...]": the port "portY" used by the application "appX".

  • "/ports/portX[/...]": the port portX.

  • "/device[/...]": the VPU.

  • "/device/network/interfaces/X[/...]": the network interface X (eth0, eth1, can).

Groups

From the firmware versions 1.20.29 and above, a new feature to monitor the port’s/application’s health by the group severity. It is recommended to handle the vehicle behavior by monitoring the group severity.

Key

Value

Description

Group name

["not_available", "no_incident", "info", "minor", "major", "critical"]

Provide the status of the group. It aggregates all the events related to this specific group, and provides an overall health status. For example, if there are two events the occurred for "app0", one "minor" and one "critical", then the group "app0" will show the severity "critical".

For more details about using the diagnostic, refer to the Python and C++ examples using the ifm3d API.

Error codes and descriptions

id

name

description

source

severity

handling

103001

ERROR_ALGO_INTERNAL

System internal error.

component

critical

- If persistent, reboot the system
- Send a service report via email to support.efector.object-ident@ifm.com

105000

ERROR_ODSAPP_EXTR_VPU_CALIB_IMPLAUSIBLE

Implausible gravity vector from IMU. This might indicate an incorrect VPU extrinsic calibration but the diagnostic might also be raised when the application is started while the vehicle is located on a ramp.

app

info

- Check the VPU extrinsic calibration (parameter extrinsicVPUToUser) and ensure that the vehicle is not started on a ramp

105001

ERROR_ODSAPP_IMAGE_IMU_DELAY_IMPLAUSIBLE

Detected an implausible delay between IMU and image data. This might be caused by an overloaded system (please consider the potential influence of OEM Docker containers).

app

minor

- Delete and reinitialize the ODS application
- If persistent, reboot the system
- If permanently active, reduce your system load (especially CPU and GPU)
- Send a service report via email to support.efector.object-ident@ifm.com

105002

ERROR_ODSAPP_VO_EXTR_DI_CALIB_IMPLAUSIBLE

The visual odometry perfomed by the respective camera is out of validated bounds. Visual odometry is still performed, but the performance and availability might be limited.

app, port

minor

- Check the camera mounting setup and extrinsic calibration values according to information given on ifm3d.com

105003

ERROR_ODSAPP_PARAMETER_PLAUSIBILITY_CHECK_FAILED

System internal error.

app

critical

- Delete and reinitialize the ODS application
- If persistent, reboot the system
- Send a service report via email to support.efector.object-ident@ifm.com

105004

ERROR_ODSAPP_VO_IMAGE_FRAMERATE

Framerate of visual odometry images is too low. This may happen sporadically. This might be caused by an overloaded system (please consider the potential influence of OEM Docker containers).

app

minor

- No user interaction required unless permanently active
- If persistent, reboot the system
- Conduct a factory reset.
- If permanently active, reduce your system load (especially CPU and GPU)
- Send a service report via email to support.efector.object-ident@ifm.com

105005

ERROR_ODSAPP_INTR_IMU_CALIB_IMPLAUSIBLE

Implausible magnitude of IMU acceleration in standstill. Diagnostic will be automatically reset by the application at the next possible instance of detected vehicle standstill.

app

info

- No user interaction required unless permanently active
- Check for valid VPU operating temperatures
- Send a service report via email to support.efector.object-ident@ifm.com

105006

ERROR_ODSAPP_UNSTABLE_FRAMERATES

Short term unstable framerate of ODS input streams. This may happen sporadically (especially after changing the activePorts parameter). This might be caused by an overloaded system (please consider the potential influence of OEM Docker containers).

app

minor

- No user interaction required unless permanently active
- If permanently active, reduce your system load (especially CPU and GPU)
- In case a PCIC receiver is used either via Ethernet or in a Docker container (e.g., via ifm3d), make sure that the receiver is fast enough to process the data.

105007

ERROR_ODSAPP_VELOCITY_UNAVAILABLE

Ego motion is temporarily unavailable, either because there is no visual odometry update for more than two seconds or the visual odometry is not yet available due to missing initial standstill checks. ODS performance is limited while this error is set, in particular for low obstacles (such as fork tines on the floor).

app

minor

- Make sure that the initial standstill checks are properly executed (see ODSAPP_STANDSTILL_CHECKS_NOT_EXECUTED diagnostic)
- Consult ifm3d.com for visual odometry requirements

105008

ERROR_ODSAPP_DEFAULT_ZONE_USED

No ODS zones are configured.

app

info

- Configure ODS zones
- Set the parameter /applications/instances/appX/configuration/zones/zoneConfigID to a non-zero value.

105009

ERROR_ODSAPP_STANDSTILL_CHECKS_NOT_EXECUTED

Standstill condition not yet detected. An initial standstill period of about five seconds after the O3R ODS application has been started is mandatory for internal plausibility checks.

app

minor

- Ensure the vehicle is in standstill for at least 5 seconds after starting ODS
- Consult ifm3d.com for visual odometry requirements
- Check extrinsic calibrations of visual odometry heads
- Check extrinsic calibration of VPU

105011

ERROR_ODSAPP_EXTR_DI_CALIB_IMPLAUSIBLE

Implausible extrinsic camera head calibration.

app

critical

- Fix the extrinsic calibration of the respective ODS ports
- Check the camera mounting setup and extrinsic calibration values according to information given on ifm3d.com

105012

ERROR_ODSAPP_TEST_MODE_WARNING

A development feature is activated.

app

critical

- Send a service report via email to support.efector.object-ident@ifm.com

105013

ERROR_ODSAPP_FOV_INSUFFICIENT_FOR_NEGATIVE_OBSTACLES

The ports field of view is insufficient for negative obstacle detection.

app, port

critical

- Consult ifm3d.com for negative obstacle requirements
- Disable negative obstacle detection for the respective camera head.

105019

ERROR_ODSAPP_CAMERA_DECALIBRATED

Camera orientation possibly deviates from extrinsic calibration.

app, port

minor

- Consult ifm3d.com for extrinsic calibration accuracy requirements.
- Schedule the respective head for recalibration. Recalibration can be performed by using SCC or MCC applications or by reviewing and accepting the suggested calibration values from the ODS system (e.g., by using the ifm Vision Assistant).

105025

ERROR_ODSAPP_UNSTABLE_FRAMERATES_LONGTERM

Long term unstable framerate of ODS input streams. This might be caused by an overloaded system (please consider the potential influence of OEM Docker containers).

app

major

- If permanently active, reduce your system load (especially CPU and GPU)
- In case a PCIC receiver is used either via Ethernet or in a Docker container (e.g., via ifm3d), make sure that the receiver is fast enough to process the data.

105026

ERROR_ODSAPP_IDLE_MODE

ODS is in idle mode, i.e. activePorts is empty. No objects will be detected.

app

critical

- Ignore if intentional
- Add at least one port to /applications/instances/appX/configuration/activePorts parameter.

105027

ERROR_ODSAPP_PORT_SWITCHING_TRANSIENT

Occupancy grid probabilities are not settled after changes to the /applications/instances/appX/configuration/activePorts.

app

major

- After a change to activePorts, it is recommended to keep the vehicle stopped until this error disappears. Alternatively don’t switch off camera heads dynamically via activePorts.

105014

ERROR_PDSAPP_EXTR_DI_CALIB_IMPLAUSIBLE

Implausible extrinsic camera head calibration.

app

critical

- Fix the extrinsic calibration of the PDS port.
- Check the camera mounting setup and extrinsic calibration values according to information given on ifm3d.com

105015

ERROR_PDSAPP_TEST_MODE_WARNING

A development feature is activated.

app

critical

- Send a service report via email to support.efector.object-ident@ifm.com

105024

ERROR_PDSAPP_DEPTH_HINT_OUT_OF_RANGE

Implausible parameter value depthHint.

app

critical

- Check depthHint, port mode and port acquisition offset settings and make sure that the depthHint parameter is in the measurement range.

105028

ERROR_PDSAPP_UNSTABLE_FRAMERATE

Unstable framerates detected for port output. This may happen sporadically in RUN mode. This might be caused by an overloaded system (please consider the potential influence of OEM Docker containers).

app

minor

- No action necessary
- If permanently active, reduce your system load (especially CPU and GPU)
- In case a PCIC receiver is used either via Ethernet or in a Docker container (e.g., via ifm3d), make sure that the receiver is fast enough to process the data.

105022

ERROR_PLCAPP_SOURCE_APP_DEFINITION

No source app (i.e., neither pdsApps nor odsApp) has been configured in PLC application

app

critical

- Configure source app in the PLC application parameters.

105023

ERROR_PLCAPP_SOURCE_APP_AVAILABILITY

Configured PLC application source app (i.e., pdsApps or odsApp) does not exist

app

critical

- Create the missing application
- Select correct application
- Reset respective source app parameter

104000

ERROR_IMU_DATA_IMPLAUSIBLE

Implausible IMU timestamp and/or temperature values.

port

info

- Check for valid VPU operating temperatures
- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102015

ERROR_DI_UNEXPECTED_CALIB_CONTENT

The camera head is not compatible with this VPU hardware/firmware combination.

port

critical

- Check compatibility matrix for compatible hardware/firmware combinations on ifm3d.com

102016

ERROR_DI_MOTION_COMP_NO_EGO_DATA

The motion compensation is activated but can not be performed due to missing egomotion data. Possibly the port uses ODS application parameters without an actively running ODS application.

port

major

- Reset the port parameters to default.

102017

ERROR_DI_MOTION_COMP_EGO_DATA_TIMESTAMP_MISMATCH

Received egomotion data on the 3D port is too old or contains implausible timestamps.

port

minor

- If an active ODS application is assigned to the port, check computational system load (eg. number of heads running in parallel, Docker container load), else reset the port parameters to default.

102014

ERROR_DI_GLOBAL_REFLECTOR_HEURISTICS_ACTIVE

High amplitude objects have been detected and thresholds are raised to invalidate pixels with possibly wrong distance measurements. Sensitivity is temporarily limited and objects might be missed.

port

minor

- If no active ODS application is assigned to the port, reset the port parameters to default.
- If possible, remove reflectors in the field of view of ODS heads. Consider to use smaller reflectors.

102000

ERROR_HEAD_OVERTEMPERATURE_ICC

Head temperature is too high to operate. The camera head will be turned on when within operating temperature ranges again.

port

major

- Provide adequate (passive) cooling via heat conduction and convection, for more informations consult ifm3d.com.

102001

ERROR_HEAD_BROWNOUT

Detected head brownout.

port

critical

- Fix power supply
- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102002

ERROR_HEAD_ENVELOPE_PAUSE_VIOLATION

Detected illumination control failure.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102003

ERROR_HEAD_OVERVOLTAGE

Head voltage is too high to operate.

port

major

- Fix power supply and - Fix cables
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102004

ERROR_HEAD_UNDERVOLTAGE

Head voltage is too low to operate.

port

major

- Fix power supply and - Fix cables
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102005

ERROR_HEAD_VCSEL_OVERCURRENT

Illumination current is too high.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102006

ERROR_HEAD_EYESAFETY_SHUTDOWN

Head was disabled to ensure eye-safety.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102007

ERROR_HEAD_INVALID_CALIBRATION

The port calibration is invalid.

port

critical

- Conduct a factory reset.
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102008

ERROR_HEAD_ENVELOPE_PULSE_ERROR

Detected illumination control failure.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102010

ERROR_HEAD_ENVELOPE_MAX_DURATION

Detected illumination control failure.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102012

ERROR_HEAD_IMAGER_RESET

The 3D imager was unexpectedly reset.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102019

ERROR_HEAD_VCSEL_OVERVOLTAGE

Illumination voltage is too high.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102020

ERROR_HEAD_ENVELOPE_PAUSE_CURRENT

Detected illumination control failure.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102021

ERROR_HEAD_VCSEL_SHUTDOWN

The active illumination is disabled.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102011

ERROR_PORT_FRAME_TIMEOUT

No images were received from the head within a particular timeframe. Data may have been lost, the imager process has recovered.

port

minor

- If persistent, reboot the system

102022

ERROR_PORT_FRAME_TIMEOUT_SINGLE_TRIGGER

No images were received from the head after triggering.

port

major

- If persistent, reboot the system

102013

ERROR_PORT_FPDLINK

Image stream communication error; potential root causes are loose cable connections, continuous EMV / ESD disturbances on the cables, damaged cables, etc.

port

critical

- Check for possible hardware defects (loose cable connections, continuous EMV / ESD disturbances on the cables, damaged cables)
- Replace FAKRA cables
- If persistent, reboot the system

102018

ERROR_PORT_MODE_ALGO_INCOMPATIBLE

System internal error.

port

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102009

ERROR_PORT_DESERIALIZER_RESET

System internal reset causing loss of frames. Potential root cause is electrostatic interference.

port

major

- Check shielding of cable harness and connectors.
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102023

ERROR_PORT_DESERIALIZER_DISTURBANCE

System internal communication errors causing loss of frames. Potential root cause is electrostatic interference.

port

major

- Check shielding of cable harness and connectors.
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

102024

ERROR_PORT_UNSTABLE_FRAMERATE

Unstable framerates detected for port output.

port

minor

- If persistent please verify network transmission speeds: GBit/s is required.
- Verify the receiver is adequate to receive the data frames fast enough via TCP/IP.
- Verify that the system load on the VPU is in reasonable limits.

101000

ERROR_BOOT_SEQUENCE_TCU_INVALID_FW

The installed TCU firmware is incompatible.

global

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101002

ERROR_BOOT_SEQUENCE_IMU_INVALID_HW

The installed IMU was not recognised.

port

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101003

ERROR_BOOT_SEQUENCE_IMU_INVALID_CALIBRATION

The IMU calibration is either missing or incorrect.

port

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101004

ERROR_BOOT_SEQUENCE_HEAD_INVALID_DRIVER

The camera head is not compatible with this VPU hardware/firmware combination.

port

critical

- Check compatibility matrix for compatible hardware/firmware combinations on ifm3d.com

101006

ERROR_BOOT_SEQUENCE_PORT_CALIBRATION

The port calibration is invalid.

port

critical

- Conduct a factory reset.
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101008

ERROR_BOOT_SEQUENCE_HEAD_INVALID_SERIALNUMBER

The serial number of an extrinsically calibrated head does not match.

port

info

- Consider to recalibrate the exchanged head and call saveInit() on the corresponding port objects or press “Save” button in iVA (ifm vision assistant).

101010

ERROR_BOOT_SEQUENCE_HEAD_ICC_FW_CHECK

The illumination controller firmware is being updated.

port

info

- No action necessary

101011

ERROR_BOOT_SEQUENCE_HEAD_ICC_FW_UPDATE

The illumination controller firmware is still incompatible after an automatic update attempt.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101012

ERROR_BOOT_SEQUENCE_HEAD_ICC_FW_INCOMPATIBLE

The illumination controller firmware is being updated.

port

info

- No action necessary

101014

ERROR_BOOT_SEQUENCE_VPU_EEPROM

VPU EEPROM content invalid.

global

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101015

ERROR_BOOT_SEQUENCE_PORT_DUMMY_CALIBRATION

A development feature is activated.

port

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101016

ERROR_BOOT_SEQUENCE_HEAD_INVALID_COMBINATION

2D and 3D unit connected to the same port pair; only 2D/2D unit pairing or 3D/3D unit pairing is allowed.

port

critical

- Update hardware connectivity and reboot the system

101018

ERROR_BOOT_SEQUENCE_INVALID_CONFIGURATION

The saved init configuration does not match the actual system state; this might be caused by changing the port connectivity or firmware up- or downgrades.

component

critical

- Check port connectivity.
- Try to call saveInit() or press “Save” button in iVA (ifm vision assistant). To reload the newly saved configuration, reboot the system.
- Conduct a factory reset.

101019

ERROR_BOOT_SEQUENCE_PORT_EEPROM_OVERRIDE

A development feature is activated.

port

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101020

ERROR_BOOT_SEQUENCE_PORT_CALIBRATION_OVERRIDE

A development feature is activated.

port

critical

- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

101021

ERROR_BOOT_SEQUENCE_PORT_IDENTIFICATION

Port identification data is invalid.

port

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103000

ERROR_VPU_COMM_TCU

Unable to communicate with the TCU.

global

critical

- If persistent, reboot the system
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103002

ERROR_VPU_OVERVOLTAGE_24V

VPU voltage is too high.

global

major

- Fix power supply

103003

ERROR_VPU_UNDERVOLTAGE_24V

VPU voltage is too low.

global

major

- Fix power supply

103004

ERROR_VPU_OVERVOLTAGE_5V

Internal VPU voltage too high.

global

major

- Check power supply
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103005

ERROR_VPU_UNDERVOLTAGE_5V

Internal VPU voltage too low.

global

major

- Check power supply
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103006

ERROR_VPU_OVERVOLTAGE_1_8V

Internal VPU voltage too high.

global

major

- Check power supply
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103007

ERROR_VPU_UNDERVOLTAGE_1_8V

Internal VPU voltage too low.

global

major

- Check power supply
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103008

ERROR_VPU_OVERTEMPERATURE

VPU temperature is too high to operate; the system performance might be throttled.

global

major

- Provide adequate (passive) cooling via heat conduction and convection, for more informations consult ifm3d.com.

103009

ERROR_VPU_NTP_NOT_SYNCHRONIZED

Unable to synchronise time with NTP server.

global

minor

- Check NTP server availability and correct configuration.
- Check VPU system logs for NTP-relevant messages

103010

ERROR_VPU_TRIGGER_OVERRUN

Triggered while image acquisition is still in progress.

port

minor

- Add suitable pauses between triggers.

103011

ERROR_VPU_NO_FREE_IMAGE_BUFFERS

Framedrop due to at least one slow component, presumably the receiver of the data.

port

info

- If persistent please verify network transmission speeds: GBit/s is required.
- Verify the receiver is adequate to receive the data frames fast enough via TCP/IP.
- Verify that the system load on the VPU is in reasonable limits.

103012

ERROR_VPU_WATCHDOG_TIMEOUT

A watchdog timeout occurred. Internal data evaluation processes have not responded in time.

component

critical

- If persistent, reboot the system
- If the user experiences this problem more than once, please send a trace of the systems logs via email to support.efector.object-ident@ifm.com. The system trace can be retrieved via the ifm3d API and ifm3d API’s CLI.Reboot the system

103013

ERROR_VPU_INVALID_CONFIGURATION

System internal configuration error.

component

critical

- If persistent, reboot the system
- Conduct a factory reset.
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103014

ERROR_VPU_ETH_LINK_DOWN

Link of Ethernet port is down.

global

info

- Check Ethernet connection (wiring, plugs, switch)

103015

ERROR_VPU_PRODUCTION_IN_PROGRESS

Faulty device.

global

critical

- Return device to manufacturer
- If persistent, contact ifm support team via support.efector.object-ident@ifm.com

103016

ERROR_VPU_FEATURE_FLAGS

Deviation to default feature settings.

global

info

- No action necessary