Beckhoff EL6631-0010 - Page 73

Appendix
EL6631-0010 73Version: 3.4.0
Fig.58: Firmware Update
Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT2 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