Differences between "Externally Guided Motion" and "Robot Reference Interface".

andreasbaldurandreasbaldur Denmark
edited April 21 in Developer Tools
I have a couple of questions regarding the differences between the two options: Externally Guided Motion (EGM) and Robot Reference Interface (RRI).
1) Is it correct that RRI is the predecessor to EGM and that EGM should be preferred over RRI for all future applications - or does EGM not replace the functionality of RRI?
2) From what I can read, EGM is intended to be used for high rate encoder feedback combined with motion control. But is it possible to use the Externally Guided Motion (EGM) option to only stream position/joint values back, i.e. WITHOUT doing position guidance or path correction?
Best regards,
/abaldur
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