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D.S.' are treated as regular players in terms of rotations and rules. They are subbed in when a front row player gets to the back row, then back out when the DS gets to the front row.

A libero is a special player with the same skills as a DS, but has a slightly different set of rules. Liberos can sub an unlimited amount of times, and in some leagues, cannot serve. (though this is uncommon) Liberos also cannot set a front row player in front or on the attack line, nor can they attack when the ball is over the top of the net.

In short words,

A DS costs the team a substitution and can only go in for one position (one person). A Libero can go in for any person so long as they are back row. Liberos can also serve now, but only in one position.

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