Just a note on setting up Routing for TwinCAT 3:

When you create your route, you will type in the ethernet address of your controller. You can also use the name of the controller, but that is not typically what is done. If you get a small x in the connected box, great! You’re done.

If you don’t, there are a couple of things I have learned through trial and error, and also a discussion with tech support in Minneapolis:

If you have tried several times and still can’t connect, you may need to go to the TwinCAT3 folder>Target and delete the StaticRoutes file. Don’t worry, it gets recreated when you add the route again.

Now for the main reason I couldn’t connect a couple of times:

The laptop I use at Automation NTH is plugged into a docking station via the USB-C power connection. There is an ethernet port in one of the monitors configured for DHCP that connects to the company network. There is also an ethernet port on the laptop itself that I use to connect to my CX-9020 controller. It is configured with a static IP compatible with the controller, in my case 169.254.138.210. The controller is at 169.254.138.182.

The route doesn’t work if both cables are plugged in. Just unplug the cable on the back of the monitor.

I am not sure but suspect this may have to do with the fact that Beckhoff uses 169.254 as the first two octets, which coincides with the “unsatisfied DHCP request” address assigned by Windows. I talked to someone about why Beckhoff uses that particular setup, and he said it goes back to TwinCAT2 when the controllers were compatible with Wago.

Anyway, hope this helps someone!