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We use NI cards with Orocos so you could have a look how this is done. In Leuven we also provide a Ethercat library, which is a wrapper around the Simple Open Ethercat Master. Already a number of robots successfully use this for their motor drivers and also to have high speed sensor acquisition. This can be done in combination with ROS (as for example on the AMIGO robot). If you want to have low latency and real-time behaviour for your low level control, have a look at the orocos rtt toolchain. You can use this seamlessly with ROS and have low level real-time behaviour.