what airman00 said
Another option is to just not use the SSC-32. About ~6 months ago a client had me make him a robot arm on a budget, so I took the Lynx arm, removed the SSC-32, and controlled it with my Axon directly. Within ~2 hours of starting I had the arm fully wired up and controllable from the Axon. The arm also had sensors on it.
Unfortunately I'm under contract to not release any info/code/videos on it until next year, or I'd have posted it ages ago for you.