diff --git a/robotis_device/devices/dynamixel/XM540-W150.device b/robotis_device/devices/dynamixel/XM540-W150.device
new file mode 100755
index 0000000..e11c017
--- /dev/null
+++ b/robotis_device/devices/dynamixel/XM540-W150.device
@@ -0,0 +1,89 @@
+[device info]
+model_name  = XM540-W150
+device_type = dynamixel
+
+[type info]
+torque_to_current_value_ratio   = 289.13672036
+velocity_to_value_ratio 	      = 41.707853
+
+value_of_0_radian_position      = 2048
+value_of_min_radian_position    = 0
+value_of_max_radian_position    = 4095
+min_radian                      = -3.14159265
+max_radian                      =  3.14159265
+
+torque_enable_item_name         = torque_enable
+present_position_item_name      = present_position
+present_velocity_item_name      = present_velocity
+present_current_item_name       = present_current
+goal_position_item_name         = goal_position
+goal_velocity_item_name         = goal_velocity
+goal_current_item_name          = goal_current
+position_d_gain_item_name       = position_d_gain
+position_i_gain_item_name       = position_i_gain
+position_p_gain_item_name       = position_p_gain
+velocity_d_gain_item_name       = 
+velocity_i_gain_item_name       = velocity_i_gain
+velocity_p_gain_item_name       = velocity_p_gain
+
+[control table]
+# addr | item name                | length | access | memory |   min value   |  max value  | signed
+   0   | model_number             | 2      | R      | EEPROM | 0             | 65535       | N
+   6   | version_of_firmware      | 1      | R      | EEPROM | 0             | 254         | N
+   7   | ID                       | 1      | RW     | EEPROM | 0             | 252         | N
+   8   | baudrate                 | 1      | RW     | EEPROM | 0             | 7           | N
+   9   | return_delay_time        | 1      | RW     | EEPROM | 0             | 254         | N
+   11  | operating_mode           | 1      | RW     | EEPROM | 0             | 16          | N
+   12  | secondary_id             | 1      | RW     | EEPROM | 0             | 255         | N
+   20  | homing_offset            | 4      | RW     | EEPROM | -1044479      | 1044479     | Y
+   24  | moving_threshold         | 4      | RW     | EEPROM | 0             | 1023        | N
+   31  | max_temperature_limit    | 1      | RW     | EEPROM | 0             | 100         | N
+   32  | max_voltage_limit        | 2      | RW     | EEPROM | 95            | 160         | N
+   34  | min_voltage_limit        | 2      | RW     | EEPROM | 95            | 160         | N
+   36  | pwm_limit                | 2      | RW     | EEPROM | 0             | 885         | N
+   38  | current_limit            | 2      | RW     | EEPROM | 0             | 1193        | N
+   40  | acceleration_limit       | 4      | RW     | EEPROM | 0             | 32767       | N
+   44  | velocity_limit           | 4      | RW     | EEPROM | 0             | 1023        | N
+   48  | max_position_limit       | 4      | RW     | EEPROM | 0             | 4095        | N
+   52  | min_position_limit       | 4      | RW     | EEPROM | 0             | 4095        | N
+   56  | external_port_mod_1      | 1      | RW     | EEPROM | 0             | 3           | N
+   57  | external_port_mod_2      | 1      | RW     | EEPROM | 0             | 3           | N
+   58  | external_port_mod_3      | 1      | RW     | EEPROM | 0             | 3           | N
+   63  | shutdown                 | 1      | RW     | EEPROM | 0             | 255         | N
+   64  | torque_enable            | 1      | RW     | RAM    | 0             | 1           | N
+   65  | LED                      | 1      | RW     | RAM    | 0             | 1           | N
+   68  | status_return_level      | 1      | RW     | RAM    | 0             | 2           | N
+   69  | registered_instruction   | 1      | R      | RAM    | 0             | 1           | N
+   70  | hardware_error_status    | 1      | R      | RAM    | 0             | 255         | N
+   76  | velocity_i_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   78  | velocity_p_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   80  | position_d_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   82  | position_i_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   84  | position_p_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   88  | feedforward_2nd_gain     | 2      | RW     | RAM    | 0             | 32767       | N
+   90  | feedforward_1st_gain     | 2      | RW     | RAM    | 0             | 32767       | N
+   98  | bus_watchdog             | 1      | RW     | RAM    | -1            | 127         | Y
+   100 | goal_pwm                 | 2      | RW     | RAM    | 0             | 885         | N
+   102 | goal_current             | 2      | RW     | RAM    | 0             | 1193        | N
+   104 | goal_velocity            | 4      | RW     | RAM    | 0             | 1023        | N
+   108 | profile_acceleration     | 4      | RW     | RAM    | 0             | 32767       | N
+   112 | profile_velocity         | 4      | RW     | RAM    | 0             | 1023        | N
+   116 | goal_position            | 4      | RW     | RAM    | -1048575      | 1048575     | Y
+   120 | realtime_tick            | 2      | R      | RAM    | 0             | 32767       | N
+   122 | moving                   | 1      | R      | RAM    | 0             | 1           | N
+   123 | moving_status            | 1      | R      | RAM    | 0             | 255         | N
+   124 | present_pwm              | 2      | R      | RAM    | 0             | 885         | N
+   126 | present_current          | 2      | R      | RAM    | 0             | 1193        | N
+   128 | present_velocity         | 4      | R      | RAM    | 0             | 1023        | N
+   132 | present_position         | 4      | R      | RAM    | -2147483648   | 2147483647  | Y
+   136 | velocity_trajectory      | 4      | R      | RAM    | 0             | 1023        | N
+   140 | position_trajectory      | 4      | R      | RAM    | 0             | 4095        | N
+   144 | present_input_voltage    | 2      | R      | RAM    | 95            | 160         | N
+   146 | present_temperature      | 1      | R      | RAM    | 0             | 100         | N
+   152 | external_port_data_1     | 2      | RW     | RAM    | 0             | 4095        | N
+   154 | external_port_data_2     | 2      | RW     | RAM    | 0             | 4095        | N
+   156 | external_port_data_3     | 2      | RW     | RAM    | 0             | 4095        | N
+   168 | indirect_address_1       | 2      | RW     | RAM    | 0             | 65535       | N
+   224 | indirect_data_1          | 1      | RW     | RAM    | 0             | 255         | N
+   578 | indirect_address_29      | 2      | RW     | RAM    | 0             | 65535       | N
+   634 | indirect_data_29         | 1      | RW     | RAM    | 0             | 255         | N
diff --git a/robotis_device/devices/dynamixel/XM540-W270.device b/robotis_device/devices/dynamixel/XM540-W270.device
new file mode 100755
index 0000000..897f398
--- /dev/null
+++ b/robotis_device/devices/dynamixel/XM540-W270.device
@@ -0,0 +1,89 @@
+[device info]
+model_name  = XM540-W270
+device_type = dynamixel
+
+[type info]
+torque_to_current_value_ratio   = 156.133829
+velocity_to_value_ratio 	      = 41.707853
+
+value_of_0_radian_position      = 2048
+value_of_min_radian_position    = 0
+value_of_max_radian_position    = 4095
+min_radian                      = -3.14159265
+max_radian                      =  3.14159265
+
+torque_enable_item_name         = torque_enable
+present_position_item_name      = present_position
+present_velocity_item_name      = present_velocity
+present_current_item_name       = present_current
+goal_position_item_name         = goal_position
+goal_velocity_item_name         = goal_velocity
+goal_current_item_name          = goal_current
+position_d_gain_item_name       = position_d_gain
+position_i_gain_item_name       = position_i_gain
+position_p_gain_item_name       = position_p_gain
+velocity_d_gain_item_name       = 
+velocity_i_gain_item_name       = velocity_i_gain
+velocity_p_gain_item_name       = velocity_p_gain
+
+[control table]
+# addr | item name                | length | access | memory |   min value   |  max value  | signed
+   0   | model_number             | 2      | R      | EEPROM | 0             | 65535       | N
+   6   | version_of_firmware      | 1      | R      | EEPROM | 0             | 254         | N
+   7   | ID                       | 1      | RW     | EEPROM | 0             | 252         | N
+   8   | baudrate                 | 1      | RW     | EEPROM | 0             | 7           | N
+   9   | return_delay_time        | 1      | RW     | EEPROM | 0             | 254         | N
+   11  | operating_mode           | 1      | RW     | EEPROM | 0             | 16          | N
+   12  | secondary_id             | 1      | RW     | EEPROM | 0             | 255         | N
+   20  | homing_offset            | 4      | RW     | EEPROM | -1044479      | 1044479     | Y
+   24  | moving_threshold         | 4      | RW     | EEPROM | 0             | 1023        | N
+   31  | max_temperature_limit    | 1      | RW     | EEPROM | 0             | 100         | N
+   32  | max_voltage_limit        | 2      | RW     | EEPROM | 95            | 160         | N
+   34  | min_voltage_limit        | 2      | RW     | EEPROM | 95            | 160         | N
+   36  | pwm_limit                | 2      | RW     | EEPROM | 0             | 885         | N
+   38  | current_limit            | 2      | RW     | EEPROM | 0             | 1193        | N
+   40  | acceleration_limit       | 4      | RW     | EEPROM | 0             | 32767       | N
+   44  | velocity_limit           | 4      | RW     | EEPROM | 0             | 1023        | N
+   48  | max_position_limit       | 4      | RW     | EEPROM | 0             | 4095        | N
+   52  | min_position_limit       | 4      | RW     | EEPROM | 0             | 4095        | N
+   56  | external_port_mod_1      | 1      | RW     | EEPROM | 0             | 3           | N
+   57  | external_port_mod_2      | 1      | RW     | EEPROM | 0             | 3           | N
+   58  | external_port_mod_3      | 1      | RW     | EEPROM | 0             | 3           | N
+   63  | shutdown                 | 1      | RW     | EEPROM | 0             | 255         | N
+   64  | torque_enable            | 1      | RW     | RAM    | 0             | 1           | N
+   65  | LED                      | 1      | RW     | RAM    | 0             | 1           | N
+   68  | status_return_level      | 1      | RW     | RAM    | 0             | 2           | N
+   69  | registered_instruction   | 1      | R      | RAM    | 0             | 1           | N
+   70  | hardware_error_status    | 1      | R      | RAM    | 0             | 255         | N
+   76  | velocity_i_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   78  | velocity_p_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   80  | position_d_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   82  | position_i_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   84  | position_p_gain          | 2      | RW     | RAM    | 0             | 32767       | N
+   88  | feedforward_2nd_gain     | 2      | RW     | RAM    | 0             | 32767       | N
+   90  | feedforward_1st_gain     | 2      | RW     | RAM    | 0             | 32767       | N
+   98  | bus_watchdog             | 1      | RW     | RAM    | -1            | 127         | Y
+   100 | goal_pwm                 | 2      | RW     | RAM    | 0             | 885         | N
+   102 | goal_current             | 2      | RW     | RAM    | 0             | 1193        | N
+   104 | goal_velocity            | 4      | RW     | RAM    | 0             | 1023        | N
+   108 | profile_acceleration     | 4      | RW     | RAM    | 0             | 32767       | N
+   112 | profile_velocity         | 4      | RW     | RAM    | 0             | 1023        | N
+   116 | goal_position            | 4      | RW     | RAM    | -1048575      | 1048575     | Y
+   120 | realtime_tick            | 2      | R      | RAM    | 0             | 32767       | N
+   122 | moving                   | 1      | R      | RAM    | 0             | 1           | N
+   123 | moving_status            | 1      | R      | RAM    | 0             | 255         | N
+   124 | present_pwm              | 2      | R      | RAM    | 0             | 885         | N
+   126 | present_current          | 2      | R      | RAM    | 0             | 1193        | N
+   128 | present_velocity         | 4      | R      | RAM    | 0             | 1023        | N
+   132 | present_position         | 4      | R      | RAM    | -2147483648   | 2147483647  | Y
+   136 | velocity_trajectory      | 4      | R      | RAM    | 0             | 1023        | N
+   140 | position_trajectory      | 4      | R      | RAM    | 0             | 4095        | N
+   144 | present_input_voltage    | 2      | R      | RAM    | 95            | 160         | N
+   146 | present_temperature      | 1      | R      | RAM    | 0             | 100         | N
+   152 | external_port_data_1     | 2      | RW     | RAM    | 0             | 4095        | N
+   154 | external_port_data_2     | 2      | RW     | RAM    | 0             | 4095        | N
+   156 | external_port_data_3     | 2      | RW     | RAM    | 0             | 4095        | N
+   168 | indirect_address_1       | 2      | RW     | RAM    | 0             | 65535       | N
+   224 | indirect_data_1          | 1      | RW     | RAM    | 0             | 255         | N
+   578 | indirect_address_29      | 2      | RW     | RAM    | 0             | 65535       | N
+   634 | indirect_data_29         | 1      | RW     | RAM    | 0             | 255         | N