Beckhoff EPP3504-0023 Short Manual page 236

Appendix
Fig. 181: 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
236 Version: 1.2 EPP3504-0023