Comment on POA - Power of Attorney for your Demat account

I want to operate my existing Demat account of yesbank , with zerodha trading account through POA. I want the shares in this demat account to sell through Zerodha Seamlessly, online without any need to manually transfer the shares to Zerodha pool account. Is this possible ?

If yes, please share the procedure and also if there would be any DP charges still levied by Zerodha ?

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