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Creating Independent Dynamixel Networks for a CM-550+RPi4B robot

I had been working on a hybrid-control project using DXL-SDK on an RPi4B via U2D2 while keeping the CM-550 running on its standard tools such as TASK and MicroPython, and I had found that each controller would need its own DXL domain/network (see picture below).

One possible solution which is shown below is to “rewire” the 3-Pin TTL cabling system that connects all the DXL actuators. Interested users can view this video link for more details:

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Thank you for sharing a great video-very clear visual for us to understand the #network concept :slight_smile: