From Modbus (MKR485) to CANopen or EtherCAT?

Hi there,

I am controlling a Brushless DC motor controller with modbus from a MKR wifi1010 with an MKR485 shield.

However, I want to change to a different motor controller and I can choose from CANopen or EtherCAT protocols.

I cannot find online or on this forum how easy it is to use either of them with an arduino. Would it be something simple to use the MKR ETH shield and run the EtherCAT protocol, using an ethernet library? Or similar, use the MKR CAN shield and run the CANopen protocol?

The control I need is relatively simple; send required velocity, request position, etc.

Thanx!
Gert Jan