Rexroth Indradrive CS and KEB G6

Hi, I'm looking at attempting to convert a large router to LinuxCNC from the vendors proprietary control.  It's using Ethercat with Beckoff EK1100, Bosch/Rexroth Indradrive CS servo drives, and a KEB G6 VFD for the spindle.  I have some experience with LinuxCNC but not Ethercat and from the searching I've done it appears that the Beckoff gear is likely supported very well and I've seen some mention of the Indradrive CS from back in 2013 but nothing on the KEB.  I did see some mention of Ethercat VFDs and supporting vl mode being under development, etc.  Just thought I would see if anyone had experience with any of these and what I might run into in doing the conversion.

Thanks,

Kevin

VFDs generally support numerous control modes, so even if you can't directly control it by EtherCAT you may be able to use Modbus, or even analogue voltage from an EtherCAT module.