# Can Dynamixel XM430-W350-T and XL330-M288-T Motors Be Used Together on the Same Bus?

**URL:** <https://get-help.theconstruct.ai/t/can-dynamixel-xm430-w350-t-and-xl330-m288-t-motors-be-used-together-on-the-same-bus/37032>\
**Category:** Robot Dynamics and Control\
**Tags:** error\
**Created:** [July 7, 2025, 9:52am UTC](https://get-help.theconstruct.ai/t/can-dynamixel-xm430-w350-t-and-xl330-m288-t-motors-be-used-together-on-the-same-bus/37032 "2025-07-07T09:52:16Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![String](https://get-help.theconstruct.ai/letter_avatar_proxy/v4/letter/s/258eb7/32.png) [@String](https://get-help.theconstruct.ai/u/String)\
**Post date:** [July 7, 2025, 9:52am UTC](https://get-help.theconstruct.ai/t/can-dynamixel-xm430-w350-t-and-xl330-m288-t-motors-be-used-together-on-the-same-bus/37032/1 "2025-07-07T09:52:16Z")

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Hello,

I’m currently working on a project where I’m using two different models of Dynamixel motors: 5 XM430-W350-T and 5 XL330-M288-T. I’ve connected them to the same bus and enabled torque simultaneously, but I’m encountering a **Bulk Read Fail** error.

I’m wondering if this issue could be due to the different models being incompatible when used together on the same bus. These motors have different specifications, and I suspect that the communication protocol or voltage requirements might be causing the failure.

Here’s what I’ve tried so far:

- Ensured the baud rates are the same for all motors.
- Verified the power supply is sufficient for all motors.
- Attempted to read from motors individually, but the error persists when trying to read from both models together.
- All torques can be opened at the same time.The error occurs after the torques are opened.
- The newest firmware is installed in all motors. (V52 for XM430-W350-T V49 for XL330-M288-T)
- Using ros\_control structure and relevant nodes for controlling.(ROS Version : ROS2 Humble)Has anyone had experience using these two models (XM430-W350-T and XL330-M288-T) on the same bus? Could this be a compatibility issue due to the differences in their specifications, or is there something else I should check or configure to make them work together?

Any help or suggestions would be greatly appreciated!

Thank you!