According to the Epilog web site, all the current models use the same rotary. I don't know if that's always been true or not. I'm sure a quick call to Epilog would be able to confirm it, if it is.
I believe there was a very early rotary glass attachment (on the first Eclipse) that does not work with later models. Beyond that, from the Summit (circa '95) and forward, all rotary attachments work on all models.
Not applicable in this particular thread since we're talking about a Legend to a Helix but for reference only: If the original RGA is from a Summit or Radius, you'll need an extension cable from the factory (or your local distributor).