How to set up Elmo Gold drive with Simulink Real-Time using EtherCAT

Short guide intended to help set up an Elmo Gold drive and Simulink Real-Time using EtherCAT

This short guide is intended to help others set up Simulink Real-Time (SLRT) as an EtherCAT master, in particular with the Elmo Gold drive.
It provides some details on:
- Settings for TwinCAT, to create the ENI file that SLRT will need
- Settings for the Elmo Gold Drive to act as an EtherCAT slave that will work with SLRT
- Tuning of TET in SLRT (required when using DC for EtherCAT...)
NOTE: this set of instructions was developed using R2015a.