Epos4 - EtherCAT Library

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Hello all, I am trying to communicate Epos4 board with my computer over EtherCAT. The OS running on my computer is Ubuntu 18.04. I am trying to command Epos4 with a ROS node (python or C++). According to my research there is no any support available from MAXON for EtherCAT, However support for CANopen, RS232 and USB has been provided in form of shared object library.

I am also very confused that if I want to plane trajectory with Move it and then controlling Each and every joints with Epos4 on EtherCAT what things I need to generate and what sources (paid / unpaid) are available?