these days I'm learning Orocos patched with xenomai. Although I have found the ways to create a hard real-time control software, I didn't find any information on how I should use this to control the servo motors and sensors like encoders with them? I have thought that I may have to use Ethernet cables to connect the main PC running the real time kernel with some kind of driver/servo drive so that the PC/micro PC and the driver can communicate with each other in hard real-time. I didn't actually find a practical solution in google like how, and which external drives or hardware should I use.
So can anyone show me the way to complete this task? How should I make my linux PC or microcontroller running real-time software should communicate with industrial level of sensors and motors? I am mentioning industrial level motors cas my project needs the accuracy and control in that level. I don't want to learn any HDL or plc and make it more complicated.