Appendix
EL600x, EL602x 193Version: 4.6
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
• Check the current status (B, C)
• Download the new *efw file (wait until it ends). A pass word will not be neccessary usually.
• After the download switch to INIT, then PreOP
• Switch off the slave briefly (don't pull under voltage!)
• Check within CoE 0x100A, if the FW status was correctly overtaken.
8.3.4 FPGA firmware *.rbf
If an FPGA chip deals with the EtherCAT communication an update may be accomplished via an *.rbf file.
• Controller firmware for processing I/O signals
• FPGA firmware for EtherCAT communication (only for terminals with FPGA)
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