As far as daisy chaining, please note that one AX3500 can drive up to eight other controllers (not necessarily all AX3500; they can be AX3100, AX1500, AX500) through eight outputs which do issue a PWM command (the 1 millisecond to 2 Millisecond 50 Hz protocol).
The AX3500 would act as a master to the other slave controllers. This works if you drive the master AX3500 through its serial port. So the master AX3500 would be setup in "RS232 mode" while the slave controllers would be setup in "PWM mode" (which we call in short RC mode since the protocol is used by radio transmitters).
Motor output is updated every 16ms.