To evaluate the reference design, complete the following steps:

1. Download and install the TwinCAT on your Windows PC
2. Launch the TwinCAT automation software
3. Create an EtherCAT Project as shown in the TwinCAT software GUI:
   Figure 4-12 Creating an EtherCAT^® Project in TwinCAT
4. EtherCAT CiA402 – Scan the device by right clicking on Devices → Scan …). Use the following images to step through the process.
   Figure 4-13 Scan for EtherCAT^® device in TwinCAT
   Figure 4-14 Scan for EtherCAT^® device in TwinCAT (2)
   Figure 4-15 Scan for EtherCAT^® device in TwinCAT (3)
   Figure 4-16 Scan for EtherCAT^® device in TwinCAT (4)
   Figure 4-17 Scan for EtherCAT^® device in TwinCAT (5)
5. EtherCAT CiA402 – Device 1 (TI EtherCAT Toolkit CiA402 for AM243X.R5F) Found
   Figure 4-18 An EtherCAT^® device is found by TwinCAT
6. EtherCAT CiA402 – Change RxPDO (Motor 1) Target velocity to 240 (240 RPM)
   Figure 4-19 Change the Target Velocity for Motor 1 in TwinCAT
   Figure 4-20 Change the Target Velocity for Motor 1 in TwinCAT (2)
   Figure 4-21 Change the Target Velocity for Motor 1 in TwinCAT (3)
7. EtherCAT CiA402 – Change RxPDO (Motor 1) Modes of Operation to "9" (Cyclic synchronous velocity mode)
   Figure 4-22 Change the Operation Mode for Motor 1 in TwinCAT
   Figure 4-23 Change the Operation Mode for Motor 1 in TwinCAT (2)
8. EtherCAT CiA402 – Change RxPDO (Motor 1) Controlword to "15" (Switch On | Enable Voltage | Quick Stop | Enable Operation)
   Figure 4-24 Change the Controlword for Motor 1 in TwinCAT
   Figure 4-25 Change the Controlword for Motor 1 in TwinCAT (2)
9. After changing this setting, the speed of Motor 1 changes from 120 RPM to 240 RPM
10. EtherCAT CiA402 – Check TxPDO (Motor 1), make sure Velocity actual value is 240 (240 RPM)
    Figure 4-26 Check the Actual Velocity for Motor 1 in TwinCAT
11. EtherCAT CiA402 – Change RxPDO_1 (Motor 2) Target velocity to 180 (180 RPM)
    Figure 4-27 Change the Target Velocity for Motor 2 in TwinCAT
12. EtherCAT CiA402 – Change RxPDO_1 (Motor 2) Modes of Operation to "9" (Cyclic synchronous velocity mode)
    Figure 4-28 Change the Operation Mode for Motor 2 in TwinCAT
13. EtherCAT CiA402 – Change RxPDO_1 (Motor 2) Controlword to "15" (Switch On | Enable Voltage | Quick Stop | Enable Operation)
    Figure 4-29 Change the Controlword for Motor 2 in TwinCAT
14. After the previous change, the target speed of motor 2 is 180 RPM
15. EtherCAT CiA402 – Check TxPDO1 (Motor 2), make sure Velocity actual value is 180 (180 RPM)
    Figure 4-30 Check the Actual Velocity for Motor 2 in TwinCAT