How can I access Ethercat master data on Ubuntu 20.04 using ROS2 over Ethernet with the Trio motion controller?

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I am currently developing a project that involves connecting an Advantech MIO 5373 single-board computer to a 32-axis Trio motion controller through Ethernet. The Trio motion controller serves as an Ethercat Master, with all servo motors and drives closed on the controller.

As the Ethercat Master runs on the Trio Motion Controller, I am searching for information about the supported range of functions and protocols that allow for reading and writing data to and from the Trio motion controller using ROS2 over Ethernet.

The software development tools I am using for this project include Ubuntu 20.04, ROS2, and C++ programming language.