5 How to Run the TwinCAT

This tool is to test your ETHERCAT code on the AM263.

The Topology is this:

PC / NB → Run with TwinCAT ← Ethernet → AM263 with ETHERCAT.

The user must read these important documents first:

• TwinCAT Setup
• Supported Network Controllers
• EtherCAT SubDevice Setup with TwinCAT

Follow these steps:

1. Install this package; it must match your Windows version:

   https://cstweb.wtb.tue.nl/4tc00/_downloads/d67baccd94aeeeb468136e6aad54629a/TC31-Full-Setup.3.1.4024.56.exe

2. Go to your Windows Networking setting, choose the Ethernet1 (the Default port.)
3. Check the “TwinCAT RT-Ethernet Filter Driver”, as shown here:
   Figure 5-1 TWINCAT Driver in the Network Setting
4. Install the TWINCAT.
   Figure 5-2 Installed the TWINCAT Driver Completed
5. Go to the device manager, check “Network adapters”, and check if this one is present: TwinCAT Intel PCI Ethernet Adapter (Gigabit), as in the following:
   Figure 5-3 TWINCAT Intel Driver Installed in the DevMgr
6. Launch the TWINCAT XAE.
7. Go to “Device”, Click “Scan”, as in following:
   Figure 5-4 Scan the Box
8. This “Activate Free Run” is a mandatory key step, without this box showing, the TwinCAT will not work.
   Figure 5-5 Activate Free Run Example