Ethernet today is the most widely used information carrier and the service provider for many important applications in the routine life such as e-mail, voice-image data and web based information. It is also emerging strongly into the area of industrial communication covering even sensors and actuators at the factory floor level. However, obtaining network connectivity for existing machinery is still an open question on which many research interests are being focused. This paper presents the hardware development of a general purpose Ethernet Ready Sensor Actuator (ERSA) module and its usage in closing the speed control loop of a Brushless DC motor over a standard Switched Ethernet network. The module is subsequently used to compare connection oriented TCP with connectionless UDP for the same Distributed Control Application under constant network traffic but at different sampling rates.