Thanks, if Beckhoff did not quote me £2k for a motion controller + training on top, I would probably would have gone for them already. Our application is quite basic with basic motion, but needs to be able to fully interface with .NET app. And bill of materials is important.
I was hoping somebody have more on hand experience they could share. I am at the moment going through test kits and training tutorials just to build a picture of real application capabilities (not sales blurb) and it is very time consuming.
And, yes, I do need etherCAT. And etherCAT is not a problem nowadays, it is mainstream and almost all vendors offer it.
Also, the question is for motion controller side, not servo drives. I have got servo drives already selected, but the servo drives manufacturer does not offer motion controllers.