Hi there @legged_robot_love, thank you for your post and welcome to our Community Page! I should be able to help with your question:
For the DYNAMIXEL MX-series, only the largest model in that product series (MX-106) technically offers a master / slave mode that can be used when it’s connected directly to another servo using a “sync cable” inserted into the units’ “dual joint” connector. Only models with the “dual joint” connector for a sync cable can be used in an exact “master / slave” mode- the user can choose how DYNAMIXELs connected with a sync cable behave by changing the “Drive Mode” firmware address.
Similarly for DYNAMIXEL X-series, only the larger models currently include a “dual joint” port that can be used with a sync cable. These models include:
- Unfortunately the X_430 sized models in DYNAMIXEL X-series do not currently include the “dual joint” port as a feature. However, you may be able to use another feature to accomplish a similar goal.
-XM430-W350-R and all models of X-series include a firmware setting known as “secondary ID”. This setting lets users set a second ID number for a DYNAMIXEL, which can be shared among groups of DYNAMIXEL units. When a command is sent to an ID number matching the secondary ID of a servo, all the servos with that secondary ID number will perform the command.
-XM430-W350-R also includes a setting for Drive Mode, but with slightly different features compared to models with “dual joint” connectors. In Drive Mode, you can set the DYNAMIXEL to “reverse mode” which causes it to reverse any received command.
If a user were to send a Secondary ID command to two servos, with one in Reverse mode, they will perform the opposite movements ideal for a paired joint. Using a combination of Secondary ID and Reverse Mode, it may be possible to create your desired dual-servo joints using the smaller XM430-W350-R models.
Let me know if this helps or whether you have any questions!