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TMS320F2810PBK jtag connections

HI All Downloaded the datasheet for the pinouts of TMS320F2810PBK below

 THe board with the TMS320F2810PBKis powered in the System

THere is an edge connector on top of the board which I have traced the connectors back to the TMS320F2810PBKchip

However I am struggling to get the programmer to read the chip. Could you please tell me the correct pins on the jtag header side to connect to the right pins on the TMS320F2810PBK. For example the JTAG header pin 5 is Vjtag where do I connect this to the TMS320F2810PBKis it Vdd Vddio or other :(

Also is it possible to read and write to the TMS320F2810PBKwhile it is powered in the system or does the board need to be removed.

If it needs to be removed then what do I need to do to power the TMS320F2810PBKso it can be read and written to.

 Your help would be appreciated.