Soft Drive
The Soft Drive component is a somewhat generic component; it has not been built solely for the XTS. The soft drive could in fact control any axis that provides an encoder feedback and accepts a current command. For XTS the Soft Drive calculates the current command and gives that current (force) to the XTS driver to commutate. As such some parameters exist that should never be changed. (E.g. Motor coil pitch and feed constant).
Additional information