I’m unfortunately not familiar with Baldor’s motion control modules, but from some quick research the ESB 2 looks like a motion controller rather than a drive itself. This means that you’d write programs on it and it would in turn send commands out to a drive or multiple drives.
In this case, the closest B&R replacement would be either a PLC or PC. All B&R controllers (PLCs as well as PCs) run the Automation Runtime real time operating system. They are also all programmed using the all-in-one software, Automation Studio. The specific device you choose will depend on your requirements (what ports you need, what the software load will be, etc.). The programming languages available may not be exactly the same as the ESB 2, but B&R controllers can be programmed using Structured Text which will probably look similar to the ESB’s programming syntax.
Do you know if you will be using B&R drives or drives from another supplier? If you use B&R drives, there is a lot of pre-made software available to help you. One example is a Getting Started guide in the documentation for Automation Studio. If you’re using 3rd party drives, you may just be sending commands via I/O channels.
If you’re new to the B&R platform, I highly recommend attending a training or talking to a local expert if you can find one. There’s a lot of functionality available and it really helps to talk to someone who can point you in the right direction. If your local ABB office is recommending you use B&R they may have someone available. Also, your profile says that you’re located in Vietnam. It looks like B&R has a partner located there. They may not be nearby to you, but perhaps they’d be willing to hop on a call to help you out: Vietnam | B&R Industrial Automation
I think you will need training. If you do not have a local representative available, you can get in touch with Automation Academy in Austria, @hubert.brunner. If you are an experienced programmer and just new with B&R, maybe mappFramework is a good start as well: Mapp Framework
The community can help you with any open technical or conceptual questions. Feel free to start a new discussion.
Regarding training, you may reach out to our office in Singapore. Follow the link and you will get contact information. Locations | B&R Industrial Automation