Ethercat with EMC

Hi noticed someone has used a Beckhoff Ethercat unit with EMC.

EMC Documentation Wiki: Etherlab

Would it be possible to use Ethercat AC drives and motors with the drive doing the sinusoidal commutation from the encoder feedback and then using linear scales for EMC to close the position loop.

Would the encoder feedback also have to go back to EMC for the velocity control or would tachos be required for this?

Thanks John