Looking to implement the DXL protocol.
If you’re using a P series or 540 size actuator, they both feature support for external input ports that allow you to add analog or digital devices to the DYNAMIXEL daisy chain.
Otherwise, you’ll have to look into implementing a custom solution like the XEL network.
When you say “implement”, do you mean using the XEL off the shelf or designing something of our own?
Well, implementing it yourself is really the only option. The XEL platform never made it to production, we just made the designs for the hardware available for people to make their own if they desire.