{
  "Protocol_2": {
    "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_Shadow_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],
      "Velocity_Limit": [44, 4],
      "Max_Position": [48, 4],
      "Min_Position": [52, 4],
      "External_Port_Mode_1": [56, 1],
      "External_Port_Mode_2": [57, 1],
      "External_Port_Mode_3": [58, 1],
      "Startup_Configuration": [60, 1],
      "Shutdown": [63, 1],
      "Torque_Enable": [64, 1],
      "LED": [65, 1],
      "Status_Return_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],
      "Backup_Ready": [147, 1],
      "External_Port_Data_1": [152, 2],
      "External_Port_Data_2": [154, 2],
      "External_Port_Data_3": [156, 2],
      "Indirect_Address_1": [168, 2],
      "Indirect_Address_2": [170, 2],
      "Indirect_Address_3": [172, 2]
    }
  }
}