Setup in TwinCAT 3

1. Add an EP6601-0002 in the Solution Explorer.
Setup in TwinCAT 3 1:

2. Right-click on "Devices" and select "Add New Item…".
Setup in TwinCAT 3 2:

3. Select the device "EtherCAT Automation Protocol via EL6601, EtherCAT".
Setup in TwinCAT 3 3:

4. Select the device "EtherCAT Automation Protocol, EL6601" in Solution Explorer and check in the "Adapter" tab whether the EP6601-0002 was automatically entered under "Device Name".
Setup in TwinCAT 3 4:

If not, select the box using the "Search" button.

5. Create Publisher and Subscriber by right-clicking on the device "EtherCAT Automation Protocol, EL6601" and selecting "Add New Item…".
Setup in TwinCAT 3 5:

6. Create variables by right-clicking on a Publisher or Subscriber and selecting "Add New Item…".
Setup in TwinCAT 3 6: