How get (static) Ethernet connection on Toradex i.MX6S

Hello,
my plan is to establish an ssh connection from my Host PC to the Toradex i.MX6S with LXDE.
When I run ifconfig I can see the board has Ethernet, but it has no ip adress.
Where can I configure an (static) ip adress for this board?

https://developer.toradex.com/knowledge-base/ethernet-network-(linux)