Use TwinCAT instead of ET9000 to generate xml file

I'm trying to build a motor testbed based on xpc using EtherCAT. Is it possible to use TwinCAT 2.x instead of ET9000 configurator?

Because Beckhoff (<http://www.beckhoff.de/english.asp?ethercat/et9000_et9200_et9300.htm>) says that "The EtherCAT configurator is not required if the TwinCAT software from Beckhoff is used."

But from the webpage of Mathworks (<http://de.mathworks.com/programs/ethercat/)>, it looks like ET9000 is the only way to make it work (can't be replaced by TwinCAT).