Development & test of an automated RaLa needle positioning-Synthesis. During the project, this algorithm shall be improved by means of a combination/connection between test rig PLC and DSHplus simulation. FLUIDON’s RaLa test rig is equipped with Beckhoff industrial PLC equipment where the I/O handling is done by EtherCAT modules. The algorithm is developed in MATLAB/SImulink environment where etherlab blocks are used to connect the EtherCAT modules to Simulink. The C code is then generated to be implemented & executed on Linux OS in order to test it on the real test-rig.