Controlling a Servo Motor having a servo motor drive using Advantech uno-137 embedded automation computer and a EtherCAT coupler

Hello all, I'm new to this world and my aim is to control an AC Servo Motor having a drive using the advantech uno-137 that runs codesys built in and a EtherCAT Coupler. Can someone explain how this gonna happen using these hardware? It's my first time to work with an embedded automation computer and a ethercat coupler.

Thank you!