Starting ethercat from scratch?

I've heard about ethercat several times and i want to use it for my robot.
From this tutorial: forum.linuxcnc.org/27-driver-boards/3559...w-to-install?start=0
I succeded in building linuxcnc-ethercat but i dont know what to do next.
I'm having a XMC4800 board as a slave device. My wish that i can control this board by linuxcnc. Can anyone help me some basic steps to start.

hi
what driver is on the boad EL number
what is the robot drives manufacturer
what joints does it use

are you the one here

what driver is on the boad EL number

I only have XML file of this board

what is the robot drives manufacturer

I gonna use yaskawa drives but i want to understand ethercat 1st before buying them

what joints does it use

All joints are rotary

are you the one here

No, i'm not