ROS control for custom robot using ethercat

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Hi, I have a robot arm from an unknown vendor without documentation. inside the robot controller, I see that the servos are controlled by a servo drive call cooldrive R6 by tsino dynatron with ethercat port.

I want to control the robot via ROS using target pose uploaded from a CAD software through rosbridge and calculate trajefctory using moveit.

I have read about moveit!, ros control, hardware interface and even SOEM but everything is still unclear to me how to implement the workflow. I have the following questions:

1. how do i achieve the TCP communication?
2. How do i read/write to the robot? is there existing package that facilitates this?
3. is ros controller & hardware interface enough to establish the workflow?
4. I have the servo drive documentation. inside is all the register and commissioning stuff. Do I actually need to use them?

I hope someone in the community can guide me. I am new to ROS, self taught but a very keen learner. Any help is appreciated! Thank you!