Ethercat: E2092 that leads to a F4002

[nishimura]

Hi i have the same problem here in a machine.  E2092 that leads to a F4002.

Solved: Error E2092 to Fault F4002 (boschrexroth.com)

I am using a MOOG COE controller and it does not have the same tools as beckhoff controllers.  I have a cycletime of 10 ms and 20% sync offset on the controller. Still having sporadic e2092. I changed it to 30% and i still have it sometimes (maybe it got better but i don´t know for sure).

Maybe unrelated but happend twice: I touched the usb cable (from my pc to display on ctrlx drive) and it trigerred F4002. 

Can someone give me a help on this subject? Is this a master configuration problem or could it be a cable problem?

[DepecheMode]

• In the event of a technical problem, please always attach a parameter set (deduction in the event of an error)
• F4002 has nothing to do with the USB interface
• We have no experience with the Moog controller. Please contact the manufacturer and describe the problem.

[nishimura · Accepted solution]

What worked was to increase the Shift Time in the slave settings.

It seems this parameters help when you have a controller with jitter in the comunications.

[DepecheMode]

Apparently the Moog controller does not understand our ESI file correctly!
The value 60us should be taken automatically from the device description.

[cmorgan]

We are also having this issue with a TwinCAT 3 master. We have experience adjusting the timing offsets because we previously had issues with the IndraDrive servos. When we run the distributed clock diagnostics in the TwinCAT, it does not produce any warnings, but the drives (ctrlX XVR and ctrlX XMS) produce E2092 warnings regularly. We haven't even tried to run the axis because we've been trying to fix this.

The master is set to a 1ms cycle time, can these drives handle that?

Firmware: FWA-XD1-AXS-V-0402N-NN-02

[joeG]

From the docs, "The minimum EtherCAT® cycle time is 250 µs".

https://docs.automation.boschrexroth.com/doc/2822778047/ethercat/latest/en/