Question about Dynamixel XL430-W250-T and XM430-W350-T Output mounting and daisy chaining

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I am not sure if this is the right place to post this, but I wanted to have some areas of the dynamixels clarified before I buy them. From looking at the pictures, it seems like there is a main output shaft on the front of the dynamixel and a secondary one on the back. Does the one on the back turn, or is it just a circular mounting pattern?

I was also wondering if it would be possible to independently control dynamixels using the TTL protocol when they are daisy chained, and where I can find the documentation for how a wiring setup with daisy chaining would work. I am planning to use the U2D2 Board and power distribution hub connected to an arduino running ROS 2.

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  1. The circular mounting pattern on the back can be used to attach a secondary idler horn that turns passively when connected to a DYNAMIXEL mounting frame. The idler isn’t included with the DYNAMIXEL, but they are available for every size of DYNAMIXEL on the online shopping mall for your region.
  2. It is possible to individually address DYNAMIXELs when connected to a daisy chain. If you’re planning on using DYNAMIXELs with the same operating voltage and communications protocol, the only thing you’ll need to do to daisy chain them together is set up unique ID values and plug in the included connectors
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