Connect Ax-12 to Rpi4 - no Dynamixel Sheild

I have some Dynamixel servo motors (AX-12) on my mobile robot.
I want to connect my mobile robot to raspberry pi 4 and control my servos directly.
so how should I do this without Dynamixel Sheild?

The U2D2 Serial converter will allow you to connect your DYNAMIXELs and RPi4.

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I also had a similar problem. I have a robotic arm made of 3 “ax12-a” servo motors connected to Rpi4 via a 74ls245n. I can’t manage to move the motors, I’ve tried all possible libraries. I can’t figure out where I’m going wrong… if I use an arduino, everything is ok, when it comes to python and Rpi, things go wrong, maybe someone can see the message and guide me to a solution. Thanks!

DYNAMIXELs require half duplex serial communications. If your serial interface doesn’t support half duplex communication you will require an additional half duplex converter circuit in order to communicate with the servos.

The recommend half-duplex converter schematic can be found on our eManual page.