I keep getting the error code F02. I checked the pump, drain hose and actual drain. They are all clear. I ran the machine empty with no soap, just borax and bleach in the tube. Washer ran and drained fine, no code. Put an actual load in with half the amount of soap I normally use and at the 29 minute mark it threw the code. Any idea on what could be causing this?

Replace the drain pump, it's probably that the motor on the pump is weak and is it's drawing too much current when there are suds in the water so the control shuts it down and report that error. 

https://prismparts.com/products/for-whirlpool-washer-washing-machine-water-drain-pump-pp0463693?_pos=1&_sid=1253bf83d&_ss=r