Appendix
EL28xx-xxxx 149Version: 2.2
Fig.162: Firmware Update
Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT2 and 3 as
EtherCAT master.
• Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4
ms). A FW-Update during real time operation is not recommended.
• Switch EtherCAT Master to PreOP
• Switch slave to INIT (A)
• Switch slave to BOOTSTRAP
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