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Yes, the combination will work with a 10 speed cassette. Shimano has a quite comprehensive compatibility chart for Di2-stuff: http://e-tubeproject.shimano.com/pdf/en/HM-CC.3.0.0-01-EN.pdf.
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The mechs need to match each other. The shifters just give instructions. I'm using a SW-R600 pave shifter to drive an RD-6870GS with no brifters at all.
Jokke_A
Emyr
@dst2
does 6770 derailleurs and 6870 shifters play well together? Will it work with a seatpost battery?