{
  "Protocol_1": {
    "Control_Table": {
      "Model_Number": [
        0,
        2
      ],
      "Firmware_Version": [
        2,
        1
      ],
      "ID": [
        3,
        1
      ],
      "Baud_Rate": [
        4,
        1
      ],
      "Return_Delay_Time": [
        5,
        1
      ],
      "CW_Angle_Limit": [
        6,
        2
      ],
      "CCW_Angle_Limit": [
        8,
        2
      ],
      "Temperature_Limit": [
        11,
        1
      ],
      "Min_Voltage_Limit": [
        12,
        1
      ],
      "Max_Voltage_Limit": [
        13,
        1
      ],
      "Max_Torque": [
        14,
        2
      ],
      "Status_Return_Level": [
        16,
        1
      ],
      "Alarm_LED": [
        17,
        1
      ],
      "Shutdown": [
        18,
        1
      ],
      "Multi_Turn_Offset": [
        20,
        2
      ],
      "Resolution_Divider": [
        22,
        1
      ],
      "Torque_Enable": [
        24,
        1
      ],
      "LED": [
        25,
        1
      ],
      "D_Gain": [
        26,
        1
      ],
      "I_Gain": [
        27,
        1
      ],
      "P_Gain": [
        28,
        1
      ],
      "Goal_Position": [
        30,
        2
      ],
      "Moving_Speed": [
        32,
        2
      ],
      "Torque_Limit": [
        34,
        2
      ],
      "Present_Position": [
        36,
        2
      ],
      "Present_Speed": [
        38,
        2
      ],
      "Present_Load": [
        40,
        2
      ],
      "Present_Voltage": [
        42,
        1
      ],
      "Present_Temperature": [
        43,
        1
      ],
      "Registered": [
        44,
        1
      ],
      "Moving": [
        46,
        1
      ],
      "Lock": [
        47,
        1
      ],
      "Punch": [
        48,
        2
      ],
      "Realtime_Tick": [
        50,
        2
      ],
      "Current": [
        68,
        2
      ],
      "Torque_Ctrl_Mode_Enable": [
        70,
        1
      ],
      "Goal_Torque": [
        71,
        2
      ],
      "Goal_Acceleration": [
        73,
        1
      ]
    },
    "Values": {
      "Min_Position": 0,
      "Max_Position": 4095,
      "Max_Angle": 360
    }
  },
  "Protocol_2": {
    "Control_Table": {
      "Control_Table": {
        "Model_Number": [
          0,
          2
        ],
        "Model_Information": [
          2,
          4
        ],
        "Firmware_Version": [
          6,
          1
        ],
        "ID": [
          7,
          1
        ],
        "Baud_Rate": [
          8,
          1
        ],
        "Return_Delay_Time": [
          9,
          1
        ],
        "Drive_Mode": [
          10,
          1
        ],
        "Operating_Mode": [
          11,
          1
        ],
        "Secondary_ID": [
          12,
          1
        ],
        "Protocol_Type": [
          13,
          1
        ],
        "Homing_Offset": [
          20,
          4
        ],
        "Moving_Threshold": [
          24,
          4
        ],
        "Temperature_Limit": [
          31,
          1
        ],
        "Max_Voltage_Limit": [
          32,
          2
        ],
        "Min_Voltage_Limit": [
          34,
          2
        ],
        "PWM_Limit": [
          36,
          2
        ],
        "Current_Limit": [
          38,
          2
        ],
        "Acceleration_Limit": [
          40,
          4
        ],
        "Velocity_Limit": [
          44,
          4
        ],
        "Max_Position_Limit": [
          48,
          4
        ],
        "Min_Position_Limit": [
          52,
          4
        ],
        "Shutdown": [
          63,
          1
        ],
        "Torque_Enable": [
          64,
          1
        ],
        "LED": [
          65,
          1
        ],
        "Return_Status_Level": [
          68,
          1
        ],
        "Registered_Instruction": [
          69,
          1
        ],
        "Hardware_Error_Status": [
          70,
          1
        ],
        "Velocity_I_Gain": [
          76,
          2
        ],
        "Velocity_P_Gain": [
          78,
          2
        ],
        "Position_D_Gain": [
          80,
          2
        ],
        "Position_I_Gain": [
          82,
          2
        ],
        "Position_P_Gain": [
          84,
          2
        ],
        "Feedforward_2nd_Gain": [
          88,
          2
        ],
        "Feedforward_1st_Gain": [
          90,
          2
        ],
        "BUS_Watchdog": [
          98,
          1
        ],
        "Goal_PWM": [
          100,
          2
        ],
        "Goal_Current": [
          102,
          2
        ],
        "Goal_Velocity": [
          104,
          4
        ],
        "Profile_Acceleration": [
          108,
          4
        ],
        "Profile_Velocity": [
          112,
          4
        ],
        "Goal_Position": [
          116,
          4
        ],
        "Realtime_Tick": [
          120,
          2
        ],
        "Moving": [
          122,
          1
        ],
        "Moving_Status": [
          123,
          1
        ],
        "Present_PWM": [
          124,
          2
        ],
        "Present_Current": [
          126,
          2
        ],
        "Present_Velocity": [
          128,
          4
        ],
        "Present_Position": [
          132,
          4
        ],
        "Velocity_Trajectory": [
          136,
          4
        ],
        "Position_Trajectory": [
          140,
          4
        ],
        "Present_Input_Voltage": [
          144,
          2
        ],
        "Present_Temperature": [
          146,
          1
        ]
      }
    },
    "Values:": {
      "Min_Position": 0,
      "Max_Position": 4095,
      "Max_Angle": 360
    }
  }
}