Beckhoff is so awesome. I bought at least 100 of their EP series modules, which are IP65 and can be mounted anywhere and use M12 and M8 connectors, so with the right sensors you can just connect with an off the shelf cable, no wiring connectors. No running endless sensor and actuator cables back to a central cabinet.

And you get fast deterministic control with etherCAT no problem.

Don't sleep on beckhoff