MGCP/Megaco and SIP are not peers; they can and will co-exist in converged networks. Though MGCP/Megaco can control end-points, the services thus enabled are very limited. SIP, therefore, is required to control end-points and also to communicate between softswitches.
MGCP/Megaco is used to internally control the media gateway. This topic is dealt with in the relevant About SIP section. What is a Softswitch?
A softswitch sits at the interconnect point between an IP network and other networks and controls the media gateways using a master/slave protocol such as MGCP. It also translates signalling protocols from one environment to another (e. G SIP to SS7).
Softswitches are also known as Media Gateway Controllers (MGCs) and Call Agents. More.
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