We are indeed considering RSI, which will allow us the communicate with KRC real-time. We'd still need to deal with the other external servos from other brands, though.
As for what we're trying to do, we will be mounting a camera on the robot flange, and one or more small servos will be used to adjust the focal point of that camera. The camera focus might have to change at specified moments during the robot motion, and it's possible that the movement is fast.
We are also getting larger servos for our own customized linear track, used to move the robot. Moments ago, we are told that adding an external servos from another brand is similar to adding an external axis through WorkVisual, but we will need to also purchase the corresponding Tech packatge if we want to control the external axis through $E1~6. Is the Converyor Tech needed for our customized linear track? Which Tech package will fit the need for the camera gadgets, then?