Need help to connect Herkulex smart servos to the Duet wifi

[ScaraMan]

Hi Guys,
I have attached an image showing how the Herkulex smart servo is connected with an Arduino uno board ( RX is pin 11, and TX is pin 10 ), how can I connect the servo to the Duet wifi ??

[Phaedrux]

Do they take step and direction pulses?

https://duet3d.dozuki.com/Wiki/Using_external_stepper_motor_drivers

[ScaraMan]

here are the electrical specifications

Working Voltage: 7~12VDC(Optimized 7.4V)
Rated Current: 450mA @ 7.4V : 1.7kgf.cm
Communication Link: Full Duplex Asynchronous Serial(TTL Level), Binary Packet, Multi Drop
Multi control through Servo ID: 0 ~ 253, 254(Broadcast only)
Maximum Baud Rate: 0.67Mbps
Feedback: Position, Speed, Temperature, Load, Voltage etc.
Various Control Algorithm: PID, Feedforward, Trapezoidal Velocity Profile, Velocity Override, Torque Saturator & Offset, Overload Protection, Neutral Calibration, Dead Zone

[mrehorstdmd]

@Phaedrux Those are RC/robot - no step/dir/enable... RS-232 serial comms only

https://www.robotshop.com/media/files/pdf2/_eng_herkulex_manual_20140218.pdf

[ScaraMan]

hi
Yes, I have all those documents already, and have used the servos connected with Arduino uno and Arduino due.
I just want to know how can I use them with the Duet wifi ???
a sketch would be appreciated for the connections,
or since I know how to connect them to the Arduino board, is it possible to use the Arduino with the duet wifi ?? if so how ??