Omron NJ series

Beckhoff will scale past the RA solutions and provide faster / simpler / more cost effective I/O - hands down. Give you an idea - here is a link to a project Beckhoff did at Changi airport - Singapore in 2012. A little over 1200 motion axis all on EtherCAT.

Opto’s power in my opinion is hard to go past for it’s native support for Sparkplug and OPCUA. As an IIoT ready controller, there is massive scale at your finger tips.

Horses for courses.