The Industrial Automation Quick Start Guide for the AM437x Industrial Development
Kit (IDK) is comprised of the following steps:

Hardware setup

Quick Start Guide••

Connect the cable between the compatible Ethernet controller on the PC and theport on the IDK. A list of compatible NICs can be found here: http://infosys.beckhoff.com/english.php?content=content/1033/tcsystemmanager/reference/
ethercat/html/ethercat_supnetworkcontroller.htm. Note that this is amandatory hardware requirement.
Connect 24V to the board.

•Power up the EVM (after the software setup).

AM437xIndustrialDevelopment
KitforIndustrial
Automation

Software setup•

Install TwinCAT (Evaluation version is available for free download fromhttp://www.beckhoff.co.in/english.asp?download/tc3-download-xae.htm).
Select PLC mode for installation and check the I/O drivers box.

•Copy sdk\examples\ethercat\esi\TiEtherCATLib.xml to<Drive>:\TwinCAT\Io\EtherCAT folder.

•••

Start TwinCAT XAE (VS 2010) from start menu.
Create new TwinCAT XAE project: File > New > Project > TwinCAT Project.
Go to TwinCAT > Show Real-Time Ethernet-compatible devices and install the RT
Ethernet adapter connected to the IDK.
1

• Connect CAT5 Ethernet cable from TwinCAT PC to ECAT IN/Port0 (J3) of IDK.
If you have multiple IDKs in chain, please connect from ECAT OUT/Port1 (J4) toPort0 of the next IDK. For the last IDK in the chain, Port1 is left open.

Digital Outputs

12 Enter the value inhexadecimal format,
where each bit in theLSB represents anoutput.

• Go to <Project name> > I/O > Devices – right click and select Scan. You will see alist of Ethernet adapters on your system, with a tick next to the adapter connectedto the IDK. Choose OK. Device n (EtherCAT) will be added to I/O devices.
• Choose “Yes” in response for “Scan for boxes”.
• Box n (TIESC-001) will be detected automatically.
• Choose “Yes” in response for “Activate Free Run”.
• The next dialog asks for confirmation to Activate Free Run – select Yes. This will
put TI ESC into OP mode.
• Now the user can control digital out LEDs using TwinCAT. Select Box n(TIESC-001) > RxPDO > 32Bit Output. The LEDs are controlled by the least significant byte on the 32-bit output. Open Online tab (double-click 32Bit Output), andclick the Write button to control the LEDs.

Input/Error LEDs

13 Changing the LED
value will set/clear theappropriate LED.

11 Right-click Box n >RxPDO > 32Bit Output.
Select Online Write.

Get started

Additional information is available at www.ti.com/sitara_twincat.

Please visit www.ti.com/am437xidk. Here you will find instructions to begin programming the AM437x Industrial Development Kit, detailed information and resources.
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Trademarks are the property of their respective owners.

SPRW259A

2

Setup for EtherCAT operation
Quick start instructions are provided below. For detailed instructions andtroubleshooting, please refer to www.ti.com/sitara_twincat.

5 For the first time, you
1 Connect the network
cable between EtherCATports and the PC withTwinCAT installation.

2 Power IDK board with 24-V power supply.

Please note that there is no power supply included in this kit.
In order to power the AM437x IDK, it is recommended touse a power supply with output voltage of +24VDC, positive
center pin, and output current max 1.67 Amp, as well as theapplicable regional product regulatory/safety certification
requirements applicable to your region.
An example of a power supply that you may purchasefrom your own electronics supplier is: CUI/V-Infinity partnumber EMSA240167-P5P-SZ, model EMSA240167.

need to define which
Ethernet port will be
used as the EtherCAT
port. Go to TwinCAT >Show Realtime EthernetCompatible Devices.

6 Select the Ethernet
adapter from the list ofcompatible devices, andpress Install. This will install a Beckhoff EtherCAT
driver. Once installed,
the Ethernet port willshow up in “Installed andready to use devices”.

7 Go to I/O > Devices.
Right-click and selectScan. Press OK in thenext dialog to startscanning for EtherCATdevices.

3Digital Outputs

5Input/Error LEDs

3 Observe the LEDs for

4 Start TwinCat XAE (VS 2010) from the start menu.

a pattern to confirm
EtherCAT application
has started.

Create new TwinCAT XAE Project (XML format).

8 Once an EtherCATcompatible device has
been detected on thisEthernet port, the above
dialog is displayed. Notethat there is a tick marknext to the adapter towhich the IDK is connected. Press OK andconfirm to start “Scan forboxes”.

4

9 The TI device will be list- 10 Expand the box toed “Box n (TIESC-001)”.
Press Yes to activate
Free Run.

see Process Data
Inputs (PDI) andOutputs (PDO).

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