First a connection to the TQ-Module has to be established with the Remote System Explorer. A step-by-step instruction is on this wiki page:
Connecting to the TQ-Module with the Remote System Explorer.
Conditions:
C/C++ Remote Application configuration there.Select other as launcher. In the appearing window check Use configuration specific settings and then select the Standard Remote Create Process Launcher.Main.Remote Absolute File Path for C/C++ Application has to be set (preferably via the button Browse….arguments.arm-linux-gdb, in the tab main of the Debugger Options in the tab Debugger. 
Shared Libraries on the host system has to be added in the Debugger Options for the module. In this case /opt/eldk/arm/lib
Gdbserver Settings. 
Apply and start debugging with Debug.
When you start the debug process, the source code is not displayed. Instead, an error message appears. “No source available for main() ”
Reason: Debug symbols are not compiled in.
Correction: Activate the debug symbols in the variable CPPFLAGS with the switch -g in the make file:
CPPFLAGS := -Wall -g