diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index 887d415..a5444cd 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -1117,14 +1117,12 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGM
   || ENABLE_ACTUATOR_XC330 \
   || ENABLE_ACTUATOR_XC430 \
   || ENABLE_ACTUATOR_XL430 \
-  || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
-  || ENABLE_ACTUATOR_XM540 || ENABLE_ACTUATOR_XH540)
+  || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 || ENABLE_ACTUATOR_XD430 \
+  || ENABLE_ACTUATOR_XM540 || ENABLE_ACTUATOR_XH540 || ENABLE_ACTUATOR_XD540 \
+  || ENABLE_ACTUATOR_XW540 || ENABLE_ACTUATOR_XW430)
   {SET_POSITION, GOAL_POSITION, UNIT_DEGREE, -1048575, 1048575, 0.088},
   {GET_POSITION, PRESENT_POSITION, UNIT_DEGREE, -2147483647 , 2147483647, 0.088},
 
-  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
-  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},  
-
   {SET_PWM, GOAL_PWM, UNIT_RAW, -885, 885, 1},
   {GET_PWM, PRESENT_PWM, UNIT_RAW, -885, 885, 1},
 #endif
@@ -1135,6 +1133,9 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_mx64_2[] PROGMEM = {
 #if (ENABLE_ACTUATOR_MX64_PROTOCOL2)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 3.36},
   {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 3.36},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
@@ -1143,14 +1144,17 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_mx106_2[] PROGMEM = {
 #if (ENABLE_ACTUATOR_MX106_PROTOCOL2)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 3.36},
   {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 3.36},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
 
 const ModelDependencyFuncItemAndRangeInfo_t dependency_xl330_M288_M077[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XL330)
-  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1150, 1150, 1},
-  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1150, 1150, 1},
+  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1750, 1750, 1},
+  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1750, 1750, 1},
 
   {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
   {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
@@ -1180,11 +1184,13 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xc330_t181_t288[] PROGMEM
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
 
-
 const ModelDependencyFuncItemAndRangeInfo_t dependency_xm430_w210_w350[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XM430)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
   {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
@@ -1193,14 +1199,20 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xh430_wt210_wt350[] PROGM
 #if (ENABLE_ACTUATOR_XH430 || ENABLE_ACTUATOR_XD430)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -648, 648, 2.69},
   {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -648, 648, 2.69},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
 
 const ModelDependencyFuncItemAndRangeInfo_t dependency_xw430_t200_t333[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XW430)
-  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -648, 648, 2.69},
-  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -648, 648, 2.69},
+  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 2.69},
+  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 2.69},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
@@ -1209,6 +1221,9 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xh430_v210_v350[] PROGMEM
 #if (ENABLE_ACTUATOR_XH430)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -689, 689, 1.34},
   {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -689, 689, 1.34},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
@@ -1218,6 +1233,20 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xm540_xh540_xt540_xw540[]
  || ENABLE_ACTUATOR_XD540 || ENABLE_ACTUATOR_XW540)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 2.69},
   {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -2047, 2047, 2.69},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+#endif
+  {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
+};
+
+const ModelDependencyFuncItemAndRangeInfo_t dependency_xh540_v150_v270[] PROGMEM = {
+#if (ENABLE_ACTUATOR_XH540 || ENABLE_ACTUATOR_XD540)
+  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1188, 1188, 2.69},
+  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -1188, 1188, 2.69},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229},
 #endif
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
@@ -1526,8 +1555,6 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
     case XM540_W270:
     case XH540_W150:
     case XH540_W270:    
-    case XH540_V150:
-    case XH540_V270:
     case XD540_T150:
     case XD540_T270:    
     case XW540_T140:
@@ -1536,6 +1563,12 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
       p_dep_ctable = dependency_xm540_xh540_xt540_xw540;
       break;
 
+    case XH540_V150:
+    case XH540_V270:
+      p_common_ctable = dependency_ctable_2_0_common;
+      p_dep_ctable = dependency_xh540_v150_v270;
+      break;
+
     // case PRO_L42_10_S300_R:
     // case PRO_L54_30_S400_R:
     // case PRO_L54_30_S500_R:
diff --git a/src/utility/config.h b/src/utility/config.h
index cb25b39..f0a7299 100644
--- a/src/utility/config.h
+++ b/src/utility/config.h
@@ -18,13 +18,13 @@
 #define ENABLE_ACTUATOR_XL320           1
 #define ENABLE_ACTUATOR_XL330           1
 #define ENABLE_ACTUATOR_XC330           1
-#define ENABLE_ACTUATOR_XL430           1   //Includes 2XL430
-#define ENABLE_ACTUATOR_XC430           1   //Includes 2XC430
+#define ENABLE_ACTUATOR_XL430           1  // includes 2XL430
+#define ENABLE_ACTUATOR_XC430           1  // includes 2XC430
 #define ENABLE_ACTUATOR_XM430           1
-#define ENABLE_ACTUATOR_XH430           1
+#define ENABLE_ACTUATOR_XH430           1  // includes V lineup
 #define ENABLE_ACTUATOR_XD430           1
 #define ENABLE_ACTUATOR_XM540           1
-#define ENABLE_ACTUATOR_XH540           1
+#define ENABLE_ACTUATOR_XH540           1  // includes V lineup
 #define ENABLE_ACTUATOR_XD540           1
 #define ENABLE_ACTUATOR_XW430           1
 #define ENABLE_ACTUATOR_XW540           1