I have experience with three motion control system real time:

1: Synqnet: It´s good but not the best, in my experience. The control is on a PC with a not real time system.

2: B&R: I like this true real time controller, and all the power that you can use from it.

3: Sigmatek: I like this true real time controller, it´s economic in comparation with other systems.

What did you use? Do you like?
If you have any question on one, pleased, ask.
If you know about other , pleased, tell us.

Best regards.