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
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