Reviewed NI controller codebase use of NI SoftMotion module which is EOL 2018 and will not be supported in the future.
Multiple other vendors offer similar "Soft Motion" products but generally iin alliance with a few select products, there are
no other solutions as generic as NI's. However the TMA's use of the module is to control EtherCAT devices and a lower
level of control is possible using NI's EtherCAT drivers.
The TMA Main Axis component comprises over 400 VI's of which ~200 make reference to the SoftMotion_Axis class.
I propose that Tekniker be asked to determine the effort involved in replacing the SoftMotion usage with direct EtherCAT
calls. The appropriate EtherCAT configuration XML files for the main Axes already exist in the Tekniker gitlba repos.