There isn’t a built-in dialog option to do this in the Precision32 IDE. However, the pre-build steps dialog can be used to add this functionality. Please note that the paths in these instructions are assuming SDK v1.1.1. For other versions of the SDK, update the paths to reflect the appropriate version.
From this point, pressing the Debug button in the Quickstart view will erase the device using the si32FlashUtility command-line programmer before downloading the file and initiating a debug session.