Experience with Moons Industries Ethercat Servo

Hi,
I was wondering if anyone could comment on experiences (good, bad, indifferent) on Moons' Industries Ethercat drives, specifically M54S-24A5ECN.
www.moonsindustries.com/p/m54s-series-un...n-000004696351007109

If not, would it be possible to summarise in a general sense what things to watch out for / would need doing to make it work with LinuxCNC.
Thanks
P.S: first post in this forum - thanks in advance for all the hard work that has obviously gone into LinuxCNC and to the community!

Moons make very nice motors. It says its CIA402 compatible so I think you will get it working ok. There is now a cia402 driver for ethercat.

Hi rodw,
Thanks for your reply. I dug into CiA 402 to familiarise myself with it. I also contacted a Moons' representative who pointed me in the direction of the ESI .XML file for this drive. I then looked into the process suggested here: github.com/linuxcnc-ethercat/linuxcnc-ethercat for using these files to enable LinuxCNC using the generic driver to control an arbitrary driver.
Quoting: "The second way to use EtherCAT hardware is with the "generic" driver. You can tell LinuxCNC-Ethercat about your hardware entirely in XML..."
If I understand your suggestion of using the "CiA 402 driver" would be different to the above. 
Would you know what I could expect from choosing one path over the other in terms of complexity/chance of success?

In addition, am I right in thinking that compatibility with CiA 402 doesn't necessarily mean that every function / parameter described by the standard is supported by this particular implementation?. In other words, it would take some time effort to go over the documentation (assuming it's good and available) to find out how well they adhere to the standard... 

Many thanks, regards.