Elmo Motion Controls has a nice portfolio for hardware, e.g. network servo based drives.
Many companies including LAB Motion Systems incorporate Elmo's drives into their solutions. We came across their DB3.6 controller. RS232 and USB communication protocols are not very effective.
Elmo provide a .NET library, which is nice but not very compatible with our Tango Controls environment run under Linux. By the moment of the scrip writing I could not find any solution in Python.
The attached the example script written in Python demonstrating the basic communication capability via a UDP. It creates a UDP server which performes communications with the controller. The proof of principle script can be easily transformed into a multithreading solution.