Technically our demo supports EtherCAT master, however for some implementations a special or optimized driver could be necessary depending on your RT requirements.
About the license costs for Codesys and any extra cost for the driver I would recommend you to directly contact 3S Solutions: https://www.toradex.com/pt-br/support/partner-network/services/9/3s-smart-software-solutions-gmbh
Some of our partners which are specialized to integrate Codesys into our hardware:
They should be able to give you better guidance about these costs.
We presented a demo at Embedded World 2019 where our i.MX6-based Apalis module (Apalis iMX6) was a Master of two servomotors and an IO Slave on a EtherCAT Network, you can check this here: https://www.youtube.com/watch?v=s88JWAMzajk&t=102s