The DOMAINcfg tool can be compiled using the maketools script in the NEMOGCM/TOOLS directory as follows:
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./maketools -m $ARCH -n DOMAINcfg
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where $ARCH indicates the arch file to be used from the directory NEMOGCM/ARCH. 

DOMAINcfg compiled will create "make_domain_cfg.exe" executable script (the main routine of this tool is make_domain_cfg.f90)
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TO RUN DOMAINCFg TOOL:
copy in src directory all FORCING files of NEMO_v3_6_stable of configuration 
FOR EXAMPLE 
- for AMM12 : 
            coordinates.nc
            bathy_meter.nc
            bathy_level.nc
            amm12_rivers.nc
            coordinates.bdy.nc
            amm12_restart_oce.nc
         directories:   bdydta/
                        fluxes/
- for ORCA2 : 
            coordinates.nc
            bathy_meter.nc
            bathy_level.nc
            domain_def.xml
            field_def.xml
            iodef.xml

and just run :
./make_domain_cfg.exe
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DOMAINcfg package is EXACTLY what does exist in NEMO version 3.6 to define a model domain (both domain related namelist and initialization):
DOMAINcfg tool creates a netcdf file "domain_cfg.nc" containing all the ocean domain informations required to define an ocean configuration,
these files are :
          
    domain size
    domain characteristics (periodic)
    horizontal mesh
    Coriolis parameter
    depth and vertical scale factors

VERY IMPORTANT::
 1. pre-required: this tool needs xios1 

  (download http://forge.ipsl.jussieu.fr/ioserver/svn/XIOS/branchs/xios-1.0 
   DOMAINcfg tool is working with revision 703 of xios) 

 2. namelist_ref and namelist_cfg needed (here committed namelists of ORCA2_LIM)

 3. same input files (of related configuration) required in v3.6 are required here. 
    (here committed files of ORCA2_LIM) :

    coordinates.nc
    bathy_meter.nc
    bathy_level.nc
    domain_def.xml 
    field_def.xml
    iodef.xml