Unity C# EtherCAT Servo DLL

I already have an EtherCAT X5_7S drive paired with an AC servo motor running on a Windows PC that also hosts my Unity project. What I am missing is a native bridge DLL that lets Unity (C#) issue real-time commands to the drive.

The core requirement is rock-solid position control. Being able to switch to speed or torque modes, read encoder feedback, handle enable/disable, alarms and homing would make the solution complete and future-proof, so please keep the API broad enough for “all actions with the servo”.

Target platform
• Windows 64-bit, Unity 2021 LTS (C# .NET Standard 2.1)
• EtherCAT communication with the X5_7S (SOEM, Beckhoff/TwinCAT, IgH or your own stack—whatever works and is redistributable for commercial use).

Deliverables
1. Compiled DLL that exposes concise C-style functions callable via DllImport.
2. Thin C# wrapper class and a minimal Unity test scene showing position moves.
3. Clear build instructions and source (Visual Studio or CMake) so I can maintain the code later.
4. Brief documentation of each public function, expected units, and any required drive parameter setup.

Acceptance
• I can jog the motor to an absolute position from Unity with repeatable accuracy.
• Round-trip read of actual position matches the drive within ≤1 encoder count.
• No jitter or lost packets during a one-hour continuous run.

Timeline
I would like to integrate and test inside my project within one month, so please factor in a short iteration phase for bug-fixes once I start bench-testing.

If you have previously driven EtherCAT servos from managed code, this should be a straightforward engagement; I just need the missing bridge built cleanly and documented.