We had problems with
igh-ethercat with raspberry pi. It simply couldn’t compile the
igh-ethercat package. We never figured out why. It worked with BeagleBone Black and that’s what we’re still using.
We needed sub-millisecond response times on EtherCAT.
igh-ethercat doesn’t provide hardware drivers for BBB (or RPi). So it was taking several milliseconds for a round trip.
If you don’t need that level of performance, then go with
igh-ethercat. It’s also open source. Actontis provides proprietary, enterprise-level solutions so you’ll be paying quite a bit for it.