Error E2092 to Fault F4002

Hi, please may I have some advice to solve this?

Using this hardware and communication settings

While in OM mode I get the Error E2029, which eventually triggers a F4002 fault. The documentation says the IPOSYNC bit needs to be toggled (BIT10 S-0-0134). Our attempt to fix this was to toggle this in the code (TwinCAT) using this command :

We can see the bit toggling successfully, but still we get E2092 leading to F4002. How can we fix this?

Thank you.

Best reply by DepecheMode

Hello Emielle,

Please check the DC settings in TwinCat.
Beckhoff has implemented a useful function for this.
The following example leads to E2092 in CtrlX-Drive
NC Cycle Time 1ms & SYNC Shift Time 10%
Solution: SYNC Shift Time 20%

TwinCAT - Master

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