Racear.
The plugin is still in development. You can test it out if you like, but I would not consider using it for a production machine at this point. PM me with your email address if you want to try it out. But there are no guarantees that it will work. You will have to be pretty knowledgeable about Mach, your servo drives, and your PID tuning to solve your own problems, as I will not be able to give you that level of support.
Steve