# \[EGM\] External Guided Motion **URL:** \ **Category:** Developer Tools\ **Created:** [April 29, 2015, 8:12am UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611 "2015-04-29T08:12:32Z")\ **Posts on this page:** 14\ **Page:** 2
**Author:** ![arnasIV](https://avatars.discourse-cdn.com/v4/letter/a/ce73a5/32.png) [@arnasIV](https://tech-community.robotics.abb.com/u/arnasIV)\ **Post date:** [April 20, 2016, 3:03pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/21 "2016-04-20T15:03:55Z")
It doesn’t and I think if a special licence is required for EGM they won’t have it either. Is there another way to reduce the delay? ---
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [April 20, 2016, 8:37pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/22 "2016-04-20T20:37:48Z")
There are some options available in RW5 like sensor interface and optical tracking that may be of use (not had any experience with them my self) - these are options you would need to add to the system. If you are at a educational facility then you should talk to your local ABB they should be able to help (ABB have educational packages available). ---
**Author:** ![Arnab](https://avatars.discourse-cdn.com/v4/letter/a/439d5e/32.png) [@Arnab](https://tech-community.robotics.abb.com/u/Arnab)\ **Post date:** [June 17, 2016, 1:18pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/23 "2016-06-17T13:18:06Z")
where can i get egm.proto?? there is another problem that when i am compiling the program “EGMsmallTest” program is not being found..please help me ---
**Author:** ![rzhao](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/rzhao/32/395_2.png) [@rzhao](https://tech-community.robotics.abb.com/u/rzhao)\ **Post date:** [June 29, 2016, 4:03pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/24 "2016-06-29T16:03:09Z")
> [@orjanmehre](#): > > > [@arnasIV](#): > > > > Where can I find more info about EGM? Like a manual or a code example? Google doesn’t reveal it that easily..;/ > > The module is quite new so there is not a lot of information out on the web. I’m writing a master’s thesis about EGM and my primary source of information has been the " > > Application manual - Controller software IRC5", document ID: 3HAC050798-001. > > All the instructions and functions you need in RAPID are listed in “Technical reference manual RAPID Instructions, Functions and Data types” . > > Last semester I did a project on EGM where I created two programs which you are welcome to use as an example, they are both available on Github. See the links at the bottom. > > Both programs where implemented on an Irb 140 robotic arm, and the code is written in C# and RAPID. > > In the first program I’ve made a slider to adjust the height (z-cord) of the robot while it moves in a square (xy- plane) . > > In the second program a Kinect sensor is used to control the movements of the robot in a 2D - plane. > > The source code in both projects are a mess (we had limited time on the project so I did not have time to clean it up), but they will give you a good idea of what’s needed to create an application using EGM. > > [GitHub - orjanmehre/EGM-Slider: Simulates a sensor for use with EGM on ABB robot](https://github.com/orjanmehre/EGM_Slider.git) > > [GitHub - orjanmehre/ExternallyGuidedMotion-Kinect: Uses Kinect and EGM to control a ABB robotic arm](https://github.com/orjanmehre/Kinect_Program.git) Hi, I have a question about EGM. Is it possible to simulate EGM in RobotStudio? For example, to move a robot using mouse through the virtual controller. Thanks a lot ! ---
**Author:** ![orjanmehre](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/orjanmehre/32/2418_2.png) [@orjanmehre](https://tech-community.robotics.abb.com/u/orjanmehre)\ **Post date:** [June 30, 2016, 8:30am UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/25 "2016-06-30T08:30:46Z")
> [@rzhao](#): > > Hi, I have a question about EGM. Is it possible to simulate EGM in RobotStudio? For example, to move a robot using mouse through the virtual controller. > Thanks a lot ! Yes, that is possible. Just set it up like you would with a real robot and use a virtual controller ---
**Author:** ![rzhao](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/rzhao/32/395_2.png) [@rzhao](https://tech-community.robotics.abb.com/u/rzhao)\ **Post date:** [June 30, 2016, 2:24pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/26 "2016-06-30T14:24:38Z")
> [@orjanmehre](#): > > > [@rzhao](#): > > > > Hi, I have a question about EGM. Is it possible to simulate EGM in RobotStudio? For example, to move a robot using mouse through the virtual controller. > > Thanks a lot ! > > Yes, that is possible. Just set it up like you would with a real robot and use a virtual controller Thank you for your reply. I am very new with RobotStudio. So far I don’t find too much info about EGM. I am looking for a detailed introduction showing how to start with EGM. I saw someone mentioned ‘example code’ provided by ABB. Could you give some hints where I can find them? Cheers. ---
**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\ **Post date:** [January 29, 2017, 11:39pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/27 "2017-01-29T23:39:48Z")
Hi, I have a question regarding EGM. In the manual, it says that external devices communicating with the controller via Analog Signals, Group signals or an Ethernet link (UDP). Is it possible to use TCP/IP socket too? Also, if anyone succeeded the mouse control mentioned above, could you let me know which communication protocol is used? ---
**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\ **Post date:** [February 8, 2017, 10:36pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/28 "2017-02-08T22:36:50Z")
Hi, this would be an easy question for whom already purchase EGM. Is EGM the license option for RobotStudio or for IRC? If I purchase one EGM license, can I use it for several robots? ---
**Author:** ![mathias](https://avatars.discourse-cdn.com/v4/letter/m/bbe5ce/32.png) [@mathias](https://tech-community.robotics.abb.com/u/mathias)\ **Post date:** [March 6, 2017, 11:02am UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/29 "2017-03-06T11:02:34Z")
I am not able to locate the egm.proto file on a recently installed IRC5 controller installed with RW6.04. I admit my documentation is from an earlier RW-version. It says the egm,proto-file is located in: OntheIRC5Controller: \PRODUCTS\\utility\Template\EGM\ Has this changed in 6.04? ---
**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\ **Post date:** [March 9, 2017, 5:25pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/30 "2017-03-09T17:25:06Z")
Hi mathias, it doesn’t matter where you put egm.proto file. All you need to do is compile that protofile to make protobuf file, then you could import it to your main program (C# and so on, but not RAPID). ---
**Author:** ![mathias](https://avatars.discourse-cdn.com/v4/letter/m/bbe5ce/32.png) [@mathias](https://tech-community.robotics.abb.com/u/mathias)\ **Post date:** [March 10, 2017, 12:13pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/31 "2017-03-10T12:13:28Z")
Hi kazoo, thanks for your reply. However, my contact at the robot site is unable to _locate_ the proto file in the 6.04 system. Where is it located? ---
**Author:** ![mathias](https://avatars.discourse-cdn.com/v4/letter/m/bbe5ce/32.png) [@mathias](https://tech-community.robotics.abb.com/u/mathias)\ **Post date:** [March 10, 2017, 12:20pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/32 "2017-03-10T12:20:29Z")
Some clarification. We have written EGM software for an older RW. On 6.04 this software stopped working. I want to rule out or verify changes in egm.proto between RW releases as cause. ---
**Author:** ![kazoo](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kazoo/32/598_2.png) [@kazoo](https://tech-community.robotics.abb.com/u/kazoo)\ **Post date:** [April 19, 2017, 5:42pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/33 "2017-04-19T17:42:50Z")
If you don’t have the one, you could get via ABB. Also, you don’t need to locate the protofile on the Robot Controller. The Robot Controller with EGM option has an ability to use that protocol. You need to use it to transform the data from/to your sensor (= PC). ---
**Author:** ![kmanivannan](https://avatars.discourse-cdn.com/v4/letter/k/779978/32.png) [@kmanivannan](https://tech-community.robotics.abb.com/u/kmanivannan)\ **Post date:** [January 18, 2018, 8:24pm UTC](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611/34 "2018-01-18T20:24:56Z")
Hi all, I’m getting this “Dynamic Load too high” error in my FlexPendant. I tried changing the Low Pass Filter value to 5. But it didn’t make any difference. Is there anything else I can try? [Previous page](https://tech-community.robotics.abb.com/t/egm-external-guided-motion/6611.md?page=1)