diff --git a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
index 772b441..01fb083 100644
--- a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
+++ b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
@@ -96,6 +96,8 @@ class NewSerialPortHandler : public DYNAMIXEL::SerialPortHandler
 };
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl;
diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
index 03eb626..5ca5967 100644
--- a/examples/advanced/fast_sync_read/fast_sync_read.ino
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -94,6 +94,8 @@
   } __attribute__((packed));
 */
 
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t BROADCAST_ID = 254;
 const uint8_t DXL_ID_CNT = 2;
diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
index c680551..4cf54f2 100644
--- a/examples/advanced/indirect_address/indirect_address.ino
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -62,6 +62,8 @@
 
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 
 const uint8_t DXL_ID_CNT = 2;
diff --git a/examples/advanced/pid_tuning/pid_tuning.ino b/examples/advanced/pid_tuning/pid_tuning.ino
index a6419e4..1f5f78a 100644
--- a/examples/advanced/pid_tuning/pid_tuning.ino
+++ b/examples/advanced/pid_tuning/pid_tuning.ino
@@ -60,6 +60,8 @@
 
 const uint8_t DXL_ID = 1;
 const uint32_t DXL_BAUDRATE = 57600;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 int32_t goal_position[2] = {1200, 1600};
diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
index 238ac95..b812ace 100644
--- a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
+++ b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -162,6 +162,8 @@ using namespace ControlTableItem;
 void setup() {
   // put your setup code here, to run once:
   DEBUG_SERIAL.begin(115200);
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: dxl.setPortProtocolVersion(2.0);
   dxl.setPortProtocolVersion(2.0);
   dxl.begin(57600);
   dxl.scan();
@@ -211,4 +213,4 @@ void loop() {
   }
 
   delay(2000);  
-}
\ No newline at end of file
+}
diff --git a/examples/advanced/slave/slave.ino b/examples/advanced/slave/slave.ino
index 51e5938..32b464b 100644
--- a/examples/advanced/slave/slave.ino
+++ b/examples/advanced/slave/slave.ino
@@ -85,6 +85,8 @@ void setup() {
   // Speed setting for communication (not necessary for USB)
   dxl_port.begin(1000000);
 
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_1_0);
   dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_2_0);
   dxl.setFirmwareVersion(1);
   dxl.setID(1);
@@ -111,4 +113,4 @@ void loop() {
   // Update or use variables for each control item.
   digitalWrite(LED_BUILTIN, control_item_led);
   control_item_analog = analogRead(A0);
-}
\ No newline at end of file
+}
diff --git a/examples/advanced/slave_callback/slave_callback.ino b/examples/advanced/slave_callback/slave_callback.ino
index f87dfb3..fd6146c 100644
--- a/examples/advanced/slave_callback/slave_callback.ino
+++ b/examples/advanced/slave_callback/slave_callback.ino
@@ -85,6 +85,8 @@ void setup() {
   // Speed setting for communication (not necessary for USB)
   dxl_port.begin(1000000);
 
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_1_0);
   dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_2_0);
   dxl.setFirmwareVersion(1);
   dxl.setID(1);
diff --git a/examples/advanced/sync_read_write_position/sync_read_write_position.ino b/examples/advanced/sync_read_write_position/sync_read_write_position.ino
index 4861a3f..2785329 100644
--- a/examples/advanced/sync_read_write_position/sync_read_write_position.ino
+++ b/examples/advanced/sync_read_write_position/sync_read_write_position.ino
@@ -99,6 +99,8 @@
 */
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
diff --git a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
index ad8b34f..e0f2a0c 100644
--- a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
+++ b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
@@ -93,6 +93,8 @@
 */
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
index ae30b0e..4a8db14 100644
--- a/examples/basic/baudrate/baudrate.ino
+++ b/examples/basic/baudrate/baudrate.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 uint32_t BAUDRATE = 57600;
 uint32_t NEW_BAUDRATE = 1000000; //1Mbsp
@@ -105,4 +107,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
\ No newline at end of file
+}
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
index be22626..74b9d20 100644
--- a/examples/basic/current_mode/current_mode.ino
+++ b/examples/basic/current_mode/current_mode.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
index bae88c1..e350d50 100644
--- a/examples/basic/current_position_mode/current_position_mode.ino
+++ b/examples/basic/current_position_mode/current_position_mode.ino
@@ -58,6 +58,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
index 035812d..e754dd3 100644
--- a/examples/basic/id/id.ino
+++ b/examples/basic/id/id.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DEFAULT_DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
@@ -116,4 +118,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
\ No newline at end of file
+}
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
index 3605c99..ad7ed1a 100644
--- a/examples/basic/led/led.ino
+++ b/examples/basic/led/led.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
index 02f4d2d..795262d 100644
--- a/examples/basic/operation_mode/operation_mode.ino
+++ b/examples/basic/operation_mode/operation_mode.ino
@@ -64,6 +64,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
index 6c3292c..fd11b1e 100644
--- a/examples/basic/ping/ping.ino
+++ b/examples/basic/ping/ping.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
@@ -117,4 +119,4 @@ void FindServos(void) {
     Serial.print("Broadcast returned no items : ");
     Serial.println(dxl.getLastLibErrCode());
   }
-}
\ No newline at end of file
+}
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
index 1498a29..cf97536 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
index e3c3a4f..61f0547 100644
--- a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
+++ b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -59,6 +59,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
index 49630fb..5fe2922 100644
--- a/examples/basic/pwm_mode/pwm_mode.ino
+++ b/examples/basic/pwm_mode/pwm_mode.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
index 67cabc8..2f444ff 100644
--- a/examples/basic/torque/torque.ino
+++ b/examples/basic/torque/torque.ino
@@ -58,6 +58,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
index e6a174c..486d65d 100644
--- a/examples/basic/velocity_mode/velocity_mode.ino
+++ b/examples/basic/velocity_mode/velocity_mode.ino
@@ -54,6 +54,8 @@
  
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
diff --git a/examples/dynamixel_protocol/factory_reset/factory_reset.ino b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
index a357ae8..aa39095 100644
--- a/examples/dynamixel_protocol/factory_reset/factory_reset.ino
+++ b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
@@ -54,6 +54,8 @@
 
 #define TIMEOUT 10    //default communication timeout 10ms
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 bool ret = false;
@@ -131,4 +133,4 @@ void loop() {
   }
 
   delay(1000);
-}
\ No newline at end of file
+}
diff --git a/examples/dynamixel_protocol/ping/ping.ino b/examples/dynamixel_protocol/ping/ping.ino
index e291130..651e54c 100644
--- a/examples/dynamixel_protocol/ping/ping.ino
+++ b/examples/dynamixel_protocol/ping/ping.ino
@@ -64,6 +64,8 @@ uint8_t ret = 0;
 uint8_t recv_count = 0;
 
 const uint8_t DXL_ID = BROADCAST_ID;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
@@ -104,4 +106,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
\ No newline at end of file
+}
diff --git a/examples/dynamixel_protocol/reboot/reboot.ino b/examples/dynamixel_protocol/reboot/reboot.ino
index 2d8b1d0..4f19895 100644
--- a/examples/dynamixel_protocol/reboot/reboot.ino
+++ b/examples/dynamixel_protocol/reboot/reboot.ino
@@ -54,6 +54,8 @@
 
 #define TIMEOUT 10    //default communication timeout 10ms
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 uint8_t option = 0;
 
@@ -98,4 +100,4 @@ void loop() {
   }
 
   delay(1000);
-}
\ No newline at end of file
+}
diff --git a/keywords.txt b/keywords.txt
index 5e4dbed..bad13d1 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -193,9 +193,9 @@ SHUTDOWN	LITERAL1
 
 TORQUE_ENABLE	LITERAL1
 LED	LITERAL1
-LED_RED	LITERAL1
-LED_GREEN	LITERAL1
-LED_BLUE	LITERAL1
+RGB_LED_RED	LITERAL1
+RGB_LED_GREEN	LITERAL1
+RGB_LED_BLUE	LITERAL1
 REGISTERED_INSTRUCTION	LITERAL1
 HARDWARE_ERROR_STATUS	LITERAL1
 VELOCITY_P_GAIN	LITERAL1
diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index dc53fdf..2df4c05 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -558,10 +558,10 @@ bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
     case PRO_M54P_040_S250_R:
     case PRO_M54P_060_S250_R:
           if (state == false) {
-              writeControlTableItem(ControlTableItem::LED_GREEN, id, state);
-              writeControlTableItem(ControlTableItem::LED_BLUE, id, state);
+              writeControlTableItem(ControlTableItem::RGB_LED_GREEN, id, state);
+              writeControlTableItem(ControlTableItem::RGB_LED_BLUE, id, state);
           }
-      ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
+      ret = writeControlTableItem(ControlTableItem::RGB_LED_RED, id, state);
       break;
 
     default:
diff --git a/src/actuator.cpp b/src/actuator.cpp
index f30348e..deac025 100644
--- a/src/actuator.cpp
+++ b/src/actuator.cpp
@@ -319,9 +319,9 @@ const ModelControlTableInfo_t pro_r_control_table[] PROGMEM = {
   {ControlTableItem::SHUTDOWN,                48, 1},
 
   {ControlTableItem::TORQUE_ENABLE,           562, 1},
-  {ControlTableItem::LED_RED,                 563, 1},
-  {ControlTableItem::LED_GREEN,               564, 1},
-  {ControlTableItem::LED_BLUE,                565, 1},
+  {ControlTableItem::RGB_LED_RED,                 563, 1},
+  {ControlTableItem::RGB_LED_GREEN,               564, 1},
+  {ControlTableItem::RGB_LED_BLUE,                565, 1},
   {ControlTableItem::VELOCITY_I_GAIN,         586, 2},
   {ControlTableItem::VELOCITY_P_GAIN,         588, 2},
   {ControlTableItem::POSITION_P_GAIN,         594, 2},
@@ -377,9 +377,9 @@ const ModelControlTableInfo_t pro_ra_pro_plus_control_table[] PROGMEM = {
   {ControlTableItem::SHUTDOWN,                63, 1},
 
   {ControlTableItem::TORQUE_ENABLE,           512, 1},
-  {ControlTableItem::LED_RED,                 513, 1},
-  {ControlTableItem::LED_GREEN,               514, 1},
-  {ControlTableItem::LED_BLUE,                515, 1},
+  {ControlTableItem::RGB_LED_RED,                 513, 1},
+  {ControlTableItem::RGB_LED_GREEN,               514, 1},
+  {ControlTableItem::RGB_LED_BLUE,                515, 1},
   {ControlTableItem::STATUS_RETURN_LEVEL,     516, 1},
   {ControlTableItem::REGISTERED_INSTRUCTION,  517, 1},
   {ControlTableItem::HARDWARE_ERROR_STATUS,   518, 1},
@@ -416,6 +416,103 @@ const ModelControlTableInfo_t pro_ra_pro_plus_control_table[] PROGMEM = {
   {ControlTableItem::LAST_DUMMY_ITEM,          0, 0}
 };
 
+const ModelControlTableInfo_t dy_control_table[] PROGMEM = {
+#if (ENABLE_ACTUATOR_DY)
+  {ControlTableItem::MODEL_NUMBER,             0, 2},
+  {ControlTableItem::MODEL_INFORMATION,        2, 4},
+  {ControlTableItem::FIRMWARE_VERSION,         6, 1},
+  {ControlTableItem::ID,                       7, 1},
+  {ControlTableItem::BUS_WATCHDOG,             8, 2},
+  {ControlTableItem::SECONDARY_ID,            10, 1},
+  {ControlTableItem::PROTOCOL_TYPE,           11, 1},
+  {ControlTableItem::BAUD_RATE,               12, 1},
+  {ControlTableItem::RETURN_DELAY_TIME,       13, 1},
+  {ControlTableItem::STATUS_RETURN_LEVEL,     15, 1},
+  {ControlTableItem::REGISTERED_INSTRUCTION,  16, 1},
+  {ControlTableItem::DRIVE_MODE,              32, 1},
+  {ControlTableItem::OPERATING_MODE,          33, 1},
+  {ControlTableItem::STARTUP_CONFIGURATION,   34, 1},
+  {ControlTableItem::POSITION_LIMIT_THRESHOLD,38, 2},
+  {ControlTableItem::IN_POSITION_THRESHOLD,   40, 4},
+  {ControlTableItem::FOLLOWING_ERROR_THRESHOLD,44, 4},
+  {ControlTableItem::MOVING_THRESHOLD,        48, 4},
+  {ControlTableItem::HOMING_OFFSET,           52, 4},
+  {ControlTableItem::INVERTER_TEMPURATURE_LIMIT,56, 1},
+  {ControlTableItem::MOTOR_TEMPURATURE_LIMIT, 56, 1},
+  {ControlTableItem::MAX_VOLTAGE_LIMIT,       60, 2},
+  {ControlTableItem::MIN_VOLTAGE_LIMIT,       62, 2},
+  {ControlTableItem::PWM_LIMIT,               64, 2},
+  {ControlTableItem::CURRENT_LIMIT,           66, 2},
+  {ControlTableItem::ACCELERATION_LIMIT,      68, 4},
+  {ControlTableItem::VELOCITY_LIMIT,          72, 4},
+  {ControlTableItem::MAX_POSITION_LIMIT,      76, 4},
+  {ControlTableItem::MIN_POSITION_LIMIT,      84, 4},
+  {ControlTableItem::ELECTRONIC_GEAR_RATIO_NUMERATOR,96, 4},
+  {ControlTableItem::ELECTRONIC_GEAR_RATIO_DENOMINATOR,100, 4},
+  {ControlTableItem::SAFE_STOP_TIME,          104, 2},
+  {ControlTableItem::BRAKE_DELAY,             106, 2},
+  {ControlTableItem::GOAL_UPDATE_DELAY,       108, 2},
+  {ControlTableItem::OVEREXCITATION_VOLTAGE,  110, 1},
+  {ControlTableItem::NORMAL_EXCITATION_VOLTAGE,111, 1},
+  {ControlTableItem::OVEREXCITATION_TIME,     112, 2},
+  {ControlTableItem::PRESENT_VELOCITY_LPF_FREQUENCY,132, 2},
+  {ControlTableItem::GOAL_CURRENT_LPF_FREQUENCY,134, 2},
+  {ControlTableItem::POSITION_FF_LPF_TIME,    136, 2},
+  {ControlTableItem::VELOCITY_FF_LPF_TIME,    138, 2},
+  {ControlTableItem::CONTROLLER_STATE,        152, 1},
+  {ControlTableItem::ERROR_CODE,              153, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_1,    154, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_2,    155, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_3,    156, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_4,    157, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_5,    158, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_6,    159, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_7,    160, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_8,    161, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_9,    162, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_10,   163, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_11,   164, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_12,   165, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_13,   166, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_14,   167, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_15,   168, 1},
+  {ControlTableItem::ERROR_CODE_HISTORY_16,   169, 1},
+  {ControlTableItem::HYBRID_SAVE,             170, 1},
+  {ControlTableItem::VELOCITY_I_GAIN,         212, 4},
+  {ControlTableItem::VELOCITY_P_GAIN,         216, 4},
+  {ControlTableItem::VELOCITY_FF_GAIN,        220, 4},
+  {ControlTableItem::POSITION_D_GAIN,         224, 4},
+  {ControlTableItem::POSITION_I_GAIN,         228, 4},
+  {ControlTableItem::POSITION_P_GAIN,         232, 4},
+  {ControlTableItem::POSITION_FF_GAIN,        236, 4},
+  {ControlTableItem::PROFILE_ACCELERATION,    240, 4},
+  {ControlTableItem::PROFILE_VELOCITY,        244, 4},
+  {ControlTableItem::PROFILE_ACCELERATION_TIME,248, 4},
+  {ControlTableItem::PROFILE_TIME,            252, 4},
+  {ControlTableItem::TORQUE_ENABLE,           512, 1},
+  {ControlTableItem::LED,                     513, 1},
+  {ControlTableItem::PWM_OFFSET,              516, 2},
+  {ControlTableItem::CURRENT_OFFSET,          518, 2},
+  {ControlTableItem::VELOCITY_OFFSET,         520, 2},
+  {ControlTableItem::GOAL_PWM,                524, 2},
+  {ControlTableItem::GOAL_CURRENT,            526, 2},
+  {ControlTableItem::GOAL_VELOCITY,           528, 4},
+  {ControlTableItem::GOAL_POSITION,           532, 4},
+  {ControlTableItem::MOVING_STATUS,           541, 1},    
+  {ControlTableItem::REALTIME_TICK,           542, 2},
+  {ControlTableItem::PRESENT_PWM,             544, 2},
+  {ControlTableItem::PRESENT_CURRENT,         546, 2},
+  {ControlTableItem::PRESENT_VELOCITY,        548, 4},
+  {ControlTableItem::PRESENT_POSITION,        552, 4},
+  {ControlTableItem::POSITION_TRAJECTORY,     560, 4},  
+  {ControlTableItem::VELOCITY_TRAJECTORY,     564, 4},
+  {ControlTableItem::PRESENT_INPUT_VOLTAGE,   568, 2},
+  {ControlTableItem::PRESENT_INVERTER_TEMPERATURE,570, 1},
+  {ControlTableItem::PRESENT_MOTOR_TEMPURATURE,571, 1},
+#endif
+  {ControlTableItem::LAST_DUMMY_ITEM,          0, 0}
+};
+
 ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, uint8_t control_item)
 {
   uint8_t item_idx, i = 0;
@@ -521,11 +618,11 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
       p_dep_ctable = xw430_540_control_table;
       break;
 
-    // case PRO_L42_10_S300_R:
-    // case PRO_L54_30_S400_R:
-    // case PRO_L54_30_S500_R:
-    // case PRO_L54_50_S290_R:
-    // case PRO_L54_50_S500_R:
+    case PRO_L42_10_S300_R:
+    case PRO_L54_30_S400_R:
+    case PRO_L54_30_S500_R:
+    case PRO_L54_50_S290_R:
+    case PRO_L54_50_S500_R:
     case PRO_M42_10_S260_R:
     case PRO_M54_40_S250_R:
     case PRO_M54_60_S250_R:
@@ -550,6 +647,15 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
       p_common_ctable = pro_ra_pro_plus_control_table;
       break;
       
+    case YM070_210_M001_RH:
+    case YM070_210_R051_RH:
+    case YM070_210_R099_RH:
+    case YM080_230_M001_RH:
+    case YM080_230_R051_RH:
+    case YM080_230_R099_RH:
+      p_common_ctable = dy_control_table;
+      break;
+
     default:
       break;
   }
diff --git a/src/actuator.h b/src/actuator.h
index dcef381..2380db3 100644
--- a/src/actuator.h
+++ b/src/actuator.h
@@ -253,6 +253,26 @@
 #define PRO_M54P_060_S250_R (uint16_t)2120
 #endif
 
+#ifndef YM070_210_M001_RH
+#define YM070_210_M001_RH (uint16_t)4000
+#endif
+#ifndef YM070_210_R051_RH
+#define YM070_210_R051_RH (uint16_t)4020
+#endif
+#ifndef YM070_210_R099_RH
+#define YM070_210_R099_RH (uint16_t)4030
+#endif
+
+#ifndef YM080_230_M001_RH
+#define YM080_230_M001_RH (uint16_t)4120
+#endif
+#ifndef YM080_230_R051_RH
+#define YM080_230_R051_RH (uint16_t)4140
+#endif
+#ifndef YM080_230_R099_RH
+#define YM080_230_R099_RH (uint16_t)4150
+#endif
+
 namespace ControlTableItem{
   enum ControlTableItemIndex{
     MODEL_NUMBER = 0,
@@ -261,6 +281,7 @@ namespace ControlTableItem{
     PROTOCOL_VERSION,
     ID,
     SECONDARY_ID,
+    PROTOCOL_TYPE,
     BAUD_RATE,
     DRIVE_MODE,
     CONTROL_MODE,
@@ -292,9 +313,9 @@ namespace ControlTableItem{
 
     TORQUE_ENABLE,
     LED,
-    LED_RED,
-    LED_GREEN,
-    LED_BLUE,
+    RGB_LED_RED,
+    RGB_LED_GREEN,
+    RGB_LED_BLUE,
     REGISTERED_INSTRUCTION,
     HARDWARE_ERROR_STATUS,
     VELOCITY_P_GAIN,
@@ -347,6 +368,53 @@ namespace ControlTableItem{
     EXTERNAL_PORT_DATA_3,
     EXTERNAL_PORT_DATA_4,
 
+    STARTUP_CONFIGURATION,
+    POSITION_LIMIT_THRESHOLD,
+    IN_POSITION_THRESHOLD,
+    FOLLOWING_ERROR_THRESHOLD,
+    INVERTER_TEMPURATURE_LIMIT,
+    MOTOR_TEMPURATURE_LIMIT,
+    ELECTRONIC_GEAR_RATIO_NUMERATOR,
+    ELECTRONIC_GEAR_RATIO_DENOMINATOR,
+    SAFE_STOP_TIME,
+    BRAKE_DELAY,
+    GOAL_UPDATE_DELAY,
+    OVEREXCITATION_VOLTAGE,
+    NORMAL_EXCITATION_VOLTAGE,
+    OVEREXCITATION_TIME,
+    PRESENT_VELOCITY_LPF_FREQUENCY,
+    GOAL_CURRENT_LPF_FREQUENCY,
+    POSITION_FF_LPF_TIME,
+    VELOCITY_FF_LPF_TIME,
+    CONTROLLER_STATE,
+    ERROR_CODE,
+    ERROR_CODE_HISTORY_1,
+    ERROR_CODE_HISTORY_2,
+    ERROR_CODE_HISTORY_3,
+    ERROR_CODE_HISTORY_4,
+    ERROR_CODE_HISTORY_5,
+    ERROR_CODE_HISTORY_6,
+    ERROR_CODE_HISTORY_7,
+    ERROR_CODE_HISTORY_8,
+    ERROR_CODE_HISTORY_9,
+    ERROR_CODE_HISTORY_10,
+    ERROR_CODE_HISTORY_11,
+    ERROR_CODE_HISTORY_12,
+    ERROR_CODE_HISTORY_13,
+    ERROR_CODE_HISTORY_14,
+    ERROR_CODE_HISTORY_15,
+    ERROR_CODE_HISTORY_16,
+    HYBRID_SAVE,
+    VELOCITY_FF_GAIN,
+    POSITION_FF_GAIN,
+    PROFILE_ACCELERATION_TIME,
+    PROFILE_TIME,
+    PWM_OFFSET,
+    CURRENT_OFFSET,
+    VELOCITY_OFFSET,
+    PRESENT_INVERTER_TEMPERATURE,
+    PRESENT_MOTOR_TEMPURATURE,
+
     LAST_DUMMY_ITEM = 0xFF
   };
 }
@@ -362,4 +430,4 @@ ControlTableItemInfo_t getControlTableItemInfo(uint16_t model_num, uint8_t contr
 
 } // namespace DYNAMIXEL
 
-#endif /* DYNAMIXEL_ACTUATOR_HPP_ */
\ No newline at end of file
+#endif /* DYNAMIXEL_ACTUATOR_HPP_ */
diff --git a/src/utility/config.h b/src/utility/config.h
index a12d246..b092846 100644
--- a/src/utility/config.h
+++ b/src/utility/config.h
@@ -33,6 +33,8 @@
 #define ENABLE_ACTUATOR_PRO_RA          1
 #define ENABLE_ACTUATOR_PRO_PLUS        1
 
+#define ENABLE_ACTUATOR_DY              1
+
 #define DXL_BYTE_STUFF_SAFE_CNT         8
 
 
@@ -102,4 +104,4 @@
   #define pgm_read_word_near(x) (*(uint16_t*)(x))
 #endif
 
-#endif /* DYNAMIXEL_CONFIG_H_ */
\ No newline at end of file
+#endif /* DYNAMIXEL_CONFIG_H_ */
diff --git a/tests/control_table/control_table.ino b/tests/control_table/control_table.ino
new file mode 100644
index 0000000..094855d
--- /dev/null
+++ b/tests/control_table/control_table.ino
@@ -0,0 +1,82 @@
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+
+  // Use Serial to debug.
+  DEBUG_SERIAL.begin(115200);
+
+DEBUG_SERIAL.println("test");
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+}
+
+void loop() {
+
+}