diff --git a/CHANGELOG.md b/CHANGELOG.md
index 156d9c62..db632cc0 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,7 @@
+## May, 16th 2018
+
+- [New model] Add (almost complete) support for the servo-motors in the X series
+
 ## March, 26th 2018
 
 - [Improvement] Add support to MX series using protocol 2
diff --git a/src/dynamixel/auto_detect.hpp b/src/dynamixel/auto_detect.hpp
index 536a4b5a..6da701c4 100644
--- a/src/dynamixel/auto_detect.hpp
+++ b/src/dynamixel/auto_detect.hpp
@@ -65,15 +65,33 @@ namespace dynamixel {
             return std::make_shared<servos::Mx64P2>(id);
         case servos::Mx106P2::ct_t::model_number_value:
             return std::make_shared<servos::Mx106P2>(id);
+        case servos::Xm430W210::ct_t::model_number_value:
+            return std::make_shared<servos::Xm430W210>(id);
+        case servos::Xm430W250::ct_t::model_number_value:
+            return std::make_shared<servos::Xm430W250>(id);
+        case servos::Xm430W350::ct_t::model_number_value:
+            return std::make_shared<servos::Xm430W350>(id);
+        case servos::Xm540W150::ct_t::model_number_value:
+            return std::make_shared<servos::Xm540W150>(id);
+        case servos::Xm540W270::ct_t::model_number_value:
+            return std::make_shared<servos::Xm540W270>(id);
+        case servos::Xh430W210::ct_t::model_number_value:
+            return std::make_shared<servos::Xh430W210>(id);
+        case servos::Xh430W350::ct_t::model_number_value:
+            return std::make_shared<servos::Xh430W350>(id);
+        case servos::Xh430V210::ct_t::model_number_value:
+            return std::make_shared<servos::Xh430V210>(id);
+        case servos::Xh430V350::ct_t::model_number_value:
+            return std::make_shared<servos::Xh430V350>(id);
         default:
             throw errors::Error("Unrecognized model number");
         }
     }
 
     /** Send a ping to an ID. If it is answered, read the actuator model and
-        instanciate a class of the correct type.
+        instantiate a class of the correct type.
 
-        @param id value, from 1 to 254 identifiying an actuator
+        @param id value, from 1 to 254 identifying an actuator
 
         @return std::shared_ptr to a servo object if we got an answer
     **/
@@ -81,7 +99,7 @@ namespace dynamixel {
     inline std::shared_ptr<servos::BaseServo<Protocol>>
     find_servo(const Controller& controller, typename Protocol::id_t id)
     {
-        // Dummy variable used only to differenciate between the two version of
+        // Dummy variable used only to differentiate between the two version of
         // get_servo (protocol 1 or 2)
         typename Protocol::address_t selected_protocol = 0;
 
diff --git a/src/dynamixel/servos.hpp b/src/dynamixel/servos.hpp
index 9dd01ae1..0923784d 100644
--- a/src/dynamixel/servos.hpp
+++ b/src/dynamixel/servos.hpp
@@ -13,6 +13,15 @@
 #include "servos/mx106.hpp"
 #include "servos/mx106_p2.hpp"
 #include "servos/xl320.hpp"
+#include "servos/xm430_w210.hpp"
+#include "servos/xm430_w250.hpp"
+#include "servos/xm430_w350.hpp"
+#include "servos/xm540_w150.hpp"
+#include "servos/xm540_w270.hpp"
+#include "servos/xh430_w210.hpp"
+#include "servos/xh430_w350.hpp"
+#include "servos/xh430_v210.hpp"
+#include "servos/xh430_v350.hpp"
 #include "servos/pro_h54_200_s500.hpp"
 #include "servos/pro_h54_100_s500.hpp"
 #include "servos/pro_h42_20_s300.hpp"
diff --git a/src/dynamixel/servos/xh430_v210.hpp b/src/dynamixel/servos/xh430_v210.hpp
new file mode 100644
index 00000000..b27d3e9c
--- /dev/null
+++ b/src/dynamixel/servos/xh430_v210.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XH430V210_HPP_
+#define DYNAMIXEL_SERVOS_XH430V210_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xh430V210;
+
+        template <>
+        struct ModelTraits<Xh430V210> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1050;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xh430V210 : public Servo<Xh430V210> {
+        public:
+            typedef Xh430V210 Model;
+
+            Xh430V210(typename protocol_t::id_t id) : Servo<Xh430V210>(id){};
+
+            MODEL_NAME(Xh430V210);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xh430_v350.hpp b/src/dynamixel/servos/xh430_v350.hpp
new file mode 100644
index 00000000..b4070485
--- /dev/null
+++ b/src/dynamixel/servos/xh430_v350.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XH430V350_HPP_
+#define DYNAMIXEL_SERVOS_XH430V350_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xh430V350;
+
+        template <>
+        struct ModelTraits<Xh430V350> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1040;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xh430V350 : public Servo<Xh430V350> {
+        public:
+            typedef Xh430V350 Model;
+
+            Xh430V350(typename protocol_t::id_t id) : Servo<Xh430V350>(id){};
+
+            MODEL_NAME(Xh430V350);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xh430_w210.hpp b/src/dynamixel/servos/xh430_w210.hpp
new file mode 100644
index 00000000..e500ad8e
--- /dev/null
+++ b/src/dynamixel/servos/xh430_w210.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XH430W210_HPP_
+#define DYNAMIXEL_SERVOS_XH430W210_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xh430W210;
+
+        template <>
+        struct ModelTraits<Xh430W210> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1010;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xh430W210 : public Servo<Xh430W210> {
+        public:
+            typedef Xh430W210 Model;
+
+            Xh430W210(typename protocol_t::id_t id) : Servo<Xh430W210>(id){};
+
+            MODEL_NAME(Xh430W210);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xh430_w350.hpp b/src/dynamixel/servos/xh430_w350.hpp
new file mode 100644
index 00000000..a3687d53
--- /dev/null
+++ b/src/dynamixel/servos/xh430_w350.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XH430W350_HPP_
+#define DYNAMIXEL_SERVOS_XH430W350_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xh430W350;
+
+        template <>
+        struct ModelTraits<Xh430W350> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1000;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xh430W350 : public Servo<Xh430W350> {
+        public:
+            typedef Xh430W350 Model;
+
+            Xh430W350(typename protocol_t::id_t id) : Servo<Xh430W350>(id){};
+
+            MODEL_NAME(Xh430W350);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xm430_w210.hpp b/src/dynamixel/servos/xm430_w210.hpp
new file mode 100644
index 00000000..f39c2c1f
--- /dev/null
+++ b/src/dynamixel/servos/xm430_w210.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XM430W210_HPP_
+#define DYNAMIXEL_SERVOS_XM430W210_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xm430W210;
+
+        template <>
+        struct ModelTraits<Xm430W210> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1030;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xm430W210 : public Servo<Xm430W210> {
+        public:
+            typedef Xm430W210 Model;
+
+            Xm430W210(typename protocol_t::id_t id) : Servo<Xm430W210>(id){};
+
+            MODEL_NAME(Xm430W210);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xm430_w250.hpp b/src/dynamixel/servos/xm430_w250.hpp
new file mode 100644
index 00000000..5693573c
--- /dev/null
+++ b/src/dynamixel/servos/xm430_w250.hpp
@@ -0,0 +1,175 @@
+#ifndef DYNAMIXEL_SERVOS_XM430W250_HPP_
+#define DYNAMIXEL_SERVOS_XM430W250_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xm430W250;
+
+        template <>
+        struct ModelTraits<Xm430W250> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1060;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xm430W250 : public Servo<Xm430W250> {
+        public:
+            typedef Xm430W250 Model;
+
+            Xm430W250(typename protocol_t::id_t id) : Servo<Xm430W250>(id){};
+
+            MODEL_NAME(Xm430W250);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xm430_w350.hpp b/src/dynamixel/servos/xm430_w350.hpp
new file mode 100644
index 00000000..90c8e232
--- /dev/null
+++ b/src/dynamixel/servos/xm430_w350.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XM430W350_HPP_
+#define DYNAMIXEL_SERVOS_XM430W350_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xm430W350;
+
+        template <>
+        struct ModelTraits<Xm430W350> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1020;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xm430W350 : public Servo<Xm430W350> {
+        public:
+            typedef Xm430W350 Model;
+
+            Xm430W350(typename protocol_t::id_t id) : Servo<Xm430W350>(id){};
+
+            MODEL_NAME(Xm430W350);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xm540_w150.hpp b/src/dynamixel/servos/xm540_w150.hpp
new file mode 100644
index 00000000..9593d6a4
--- /dev/null
+++ b/src/dynamixel/servos/xm540_w150.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XM540W150_HPP_
+#define DYNAMIXEL_SERVOS_XM540W150_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xm540W150;
+
+        template <>
+        struct ModelTraits<Xm540W150> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1130;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xm540W150 : public Servo<Xm540W150> {
+        public:
+            typedef Xm540W150 Model;
+
+            Xm540W150(typename protocol_t::id_t id) : Servo<Xm540W150>(id){};
+
+            MODEL_NAME(Xm540W150);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif
diff --git a/src/dynamixel/servos/xm540_w270.hpp b/src/dynamixel/servos/xm540_w270.hpp
new file mode 100644
index 00000000..b58e88c7
--- /dev/null
+++ b/src/dynamixel/servos/xm540_w270.hpp
@@ -0,0 +1,181 @@
+#ifndef DYNAMIXEL_SERVOS_XM540W270_HPP_
+#define DYNAMIXEL_SERVOS_XM540W270_HPP_
+
+#include <stdint.h>
+
+#include "servo.hpp"
+#include "../protocols/protocol2.hpp"
+
+namespace dynamixel {
+    namespace servos {
+        class Xm540W270;
+
+        template <>
+        struct ModelTraits<Xm540W270> {
+            typedef protocols::Protocol2 protocol_t;
+
+            struct CT {
+                static const protocol_t::address_t model_number = 0;
+                typedef uint16_t model_number_t;
+                static const model_number_t model_number_value = 1120;
+                static const protocol_t::address_t model_info = 2;
+                typedef uint32_t model_info_t;
+                static const protocol_t::address_t firmware_version = 6;
+                typedef uint8_t firmware_version_t;
+                static const protocol_t::address_t id = 7;
+                typedef protocol_t::id_t id_t;
+                static const protocol_t::address_t baudrate = 8;
+                typedef uint8_t baudrate_t;
+                static const protocol_t::address_t return_delay_time = 9;
+                typedef uint8_t return_delay_time_t;
+                static const protocol_t::address_t drive_mode = 10;
+                typedef uint8_t drive_mode_t;
+                static const protocol_t::address_t operating_mode = 11;
+                typedef uint8_t operating_mode_t;
+                static const protocol_t::address_t secondary_id = 12;
+                typedef uint8_t secondary_id_t;
+                static const protocol_t::address_t protocol_version = 13;
+                typedef uint8_t protocol_version_t;
+                static const protocol_t::address_t homing_offset = 20;
+                typedef uint32_t homing_offset_t;
+                static const protocol_t::address_t moving_threshold = 24;
+                typedef uint32_t moving_threshold_t;
+                static const protocol_t::address_t highest_temperature_limit = 31;
+                typedef uint8_t highest_temperature_limit_t;
+                static const protocol_t::address_t highest_voltage_limit = 32;
+                typedef uint16_t highest_voltage_limit_t;
+                static const protocol_t::address_t lowest_voltage_limit = 34;
+                typedef uint16_t lowest_voltage_limit_t;
+                static const protocol_t::address_t pwm_limit = 36;
+                typedef uint16_t pwm_limit_t;
+                static const protocol_t::address_t current_limit = 38;
+                typedef uint16_t current_limit_t;
+                static const protocol_t::address_t acceleration_limit = 40;
+                typedef uint32_t acceleration_limit_t;
+                static const protocol_t::address_t speed_limit = 44;
+                typedef uint32_t speed_limit_t;
+                static const protocol_t::address_t max_position_limit = 48;
+                typedef int32_t max_position_limit_t;
+                static const protocol_t::address_t min_position_limit = 52;
+                typedef int32_t min_position_limit_t;
+                static const protocol_t::address_t alarm_shutdown = 63;
+                typedef uint8_t alarm_shutdown_t;
+                static const protocol_t::address_t torque_enable = 64;
+                typedef uint8_t torque_enable_t;
+                static const protocol_t::address_t led = 65;
+                typedef uint8_t led_t;
+                static const protocol_t::address_t status_return_level = 68;
+                typedef uint8_t status_return_level_t;
+                static const protocol_t::address_t registered = 69;
+                typedef uint8_t registered_t;
+                static const protocol_t::address_t hardware_error_status = 70;
+                typedef uint8_t hardware_error_status_t;
+                static const protocol_t::address_t velocity_i_gain = 76;
+                typedef uint16_t velocity_i_gain_t;
+                static const protocol_t::address_t velocity_p_gain = 78;
+                typedef uint16_t velocity_p_gain_t;
+                static const protocol_t::address_t position_d_gain = 80;
+                typedef uint16_t position_d_gain_t;
+                static const protocol_t::address_t position_i_gain = 82;
+                typedef uint16_t position_i_gain_t;
+                static const protocol_t::address_t position_p_gain = 84;
+                typedef uint16_t position_p_gain_t;
+                static const protocol_t::address_t feedforward_2nd_gain = 88;
+                typedef uint16_t feedforward_2nd_gain_t;
+                static const protocol_t::address_t feedforward_1st_gain = 90;
+                typedef uint16_t feedforward_1st_gain_t;
+                static const protocol_t::address_t bus_watchdog = 98;
+                typedef uint8_t bus_watchdog_t;
+                static const protocol_t::address_t goal_pwm = 100;
+                typedef uint16_t goal_pwm_t;
+                static const protocol_t::address_t goal_current = 102;
+                typedef uint16_t goal_current_t;
+                static const protocol_t::address_t moving_speed = 104;
+                typedef uint32_t moving_speed_t;
+                static const moving_speed_t min_goal_speed = INT32_MIN;
+                static const moving_speed_t max_goal_speed = INT32_MAX;
+                static constexpr double rpm_per_tick = 0.229;
+                static const bool speed_sign_bit = false;
+                static const protocol_t::address_t profile_acceleration = 108;
+                typedef uint32_t profile_acceleration_t;
+                static const protocol_t::address_t profile_speed = 112;
+                typedef uint32_t profile_speed_t;
+                static const protocol_t::address_t goal_position = 116;
+                typedef int32_t goal_position_t;
+                static const goal_position_t min_goal_position = 0;
+                static const goal_position_t max_goal_position = 4095;
+                static const uint32_t min_goal_angle_deg = 0;
+                static const uint32_t max_goal_angle_deg = 360;
+                static const protocol_t::address_t realtime_tick = 120;
+                typedef uint16_t realtime_tick_t;
+                static const protocol_t::address_t moving = 122;
+                typedef uint8_t moving_t;
+                static const protocol_t::address_t moving_status = 123;
+                typedef uint8_t moving_status_t;
+                static const protocol_t::address_t present_pwm = 124;
+                typedef uint16_t present_pwm_t;
+                static const protocol_t::address_t current = 126;
+                typedef uint16_t current_t;
+                static const protocol_t::address_t present_speed = 128;
+                typedef int32_t present_speed_t;
+                static const protocol_t::address_t present_position = 132;
+                typedef int32_t present_position_t;
+                static const protocol_t::address_t speed_trajectory = 136;
+                typedef int32_t speed_trajectory_t;
+                static const protocol_t::address_t position_trajectory = 140;
+                typedef int32_t position_trajectory_t;
+                static const protocol_t::address_t present_voltage = 144;
+                typedef uint16_t present_voltage_t;
+                static const protocol_t::address_t present_temperature = 146;
+                typedef uint8_t present_temperature_t;
+            };
+        };
+
+        class Xm540W270 : public Servo<Xm540W270> {
+        public:
+            typedef Xm540W270 Model;
+
+            Xm540W270(typename protocol_t::id_t id) : Servo<Xm540W270>(id){};
+
+            MODEL_NAME(Xm540W270);
+
+            // Here we add the fields that are not common to all dynamixels
+            READ_FIELD(model_info);
+            READ_WRITE_FIELD(drive_mode);
+            READ_WRITE_FIELD(operating_mode);
+            READ_WRITE_FIELD(secondary_id);
+            READ_WRITE_FIELD(protocol_version);
+            READ_WRITE_FIELD(homing_offset);
+            READ_WRITE_FIELD(moving_threshold);
+            READ_WRITE_FIELD(pwm_limit);
+            READ_WRITE_FIELD(current_limit);
+            READ_WRITE_FIELD(acceleration_limit);
+            READ_WRITE_FIELD(speed_limit);
+            READ_WRITE_FIELD(max_position_limit);
+            READ_WRITE_FIELD(min_position_limit);
+            READ_WRITE_FIELD(led);
+            READ_FIELD(registered);
+            READ_FIELD(hardware_error_status);
+            READ_WRITE_FIELD(velocity_i_gain);
+            READ_WRITE_FIELD(velocity_p_gain);
+            READ_WRITE_FIELD(position_d_gain);
+            READ_WRITE_FIELD(position_i_gain);
+            READ_WRITE_FIELD(position_p_gain);
+            READ_WRITE_FIELD(feedforward_2nd_gain);
+            READ_WRITE_FIELD(feedforward_1st_gain);
+            READ_WRITE_FIELD(bus_watchdog);
+            READ_WRITE_FIELD(goal_pwm);
+            READ_WRITE_FIELD(goal_current);
+            READ_WRITE_FIELD(profile_acceleration);
+            READ_WRITE_FIELD(profile_speed);
+            READ_FIELD(realtime_tick);
+            READ_FIELD(moving_status);
+            READ_FIELD(present_pwm);
+            // READ_FIELD(current);
+            READ_FIELD(speed_trajectory);
+            READ_FIELD(position_trajectory);
+        };
+    }
+}
+
+#endif