The main difference is the fieldbus and firmware functions. Like e.g. there are no direct variables available. But on the other side there are also PLC-Open standard function blocks (CXA_PLCOPEN) for motion commands available like they have been before. And also read and write parameter function blocks that now use the EtherCat instead of the Sercos.
State machine like from the GAT compact are also portable/adaptable. I did that already two years ago.
For further suggestions it would be necessary to know which direct firmware functions and other interface customer is using.
... View more