diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index 7eab95b..0007a73 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -885,6 +885,7 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGM
 #if (ENABLE_ACTUATOR_MX28_PROTOCOL2 \
   || ENABLE_ACTUATOR_MX64_PROTOCOL2 \
   || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
+  || ENABLE_ACTUATOR_XC430 \
   || ENABLE_ACTUATOR_XL430 \
   || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
   || ENABLE_ACTUATOR_XM540 || ENABLE_ACTUATOR_XH540)
@@ -1182,7 +1183,11 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
       break;              
 
     case MX28_2:
+    case XC430_W150:
+    case XC430_W240:
+    case XXC430_W250:
     case XL430_W250:
+    case XXL430_W250:
       p_common_ctable = dependency_ctable_2_0_common;
       break;
     case MX64_2:
diff --git a/src/actuator.cpp b/src/actuator.cpp
index b405817..3aaf242 100644
--- a/src/actuator.cpp
+++ b/src/actuator.cpp
@@ -174,6 +174,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
  || ENABLE_ACTUATOR_MX64_PROTOCOL2 \
  || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
  || ENABLE_ACTUATOR_XL430 \
+ || ENABLE_ACTUATOR_XC430 \
  || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
  || ENABLE_ACTUATOR_XM540 || ENABLE_ACTUATOR_XH540)
   {ControlTableItem::MODEL_NUMBER,             0, 2},
@@ -248,8 +249,9 @@ const ModelControlTableInfo_t mx64_106_2_control_table[] PROGMEM = {
   {ControlTableItem::LAST_DUMMY_ITEM,          0, 0}
 };
 
-const ModelControlTableInfo_t xl430_control_table[] PROGMEM = {
-#if (ENABLE_ACTUATOR_XL430)
+const ModelControlTableInfo_t xc430_xl430_control_table[] PROGMEM = {
+#if (ENABLE_ACTUATOR_XL430 \
+ || ENABLE_ACTUATOR_XC430)
   {ControlTableItem::PRESENT_LOAD,           126, 2},
 #endif
   {ControlTableItem::LAST_DUMMY_ITEM,          0, 0}
@@ -464,9 +466,13 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
       p_common_ctable = xl320_control_table;
       break;   
 
+    case XC430_W150:
+    case XC430_W240:
+    case XXC430_W250:
     case XL430_W250:
+    case XXL430_W250:
       p_common_ctable = control_table_2_0;
-      p_dep_ctable = xl430_control_table;
+      p_dep_ctable = xc430_xl430_control_table;
       break;
 
     case XM430_W210:
diff --git a/src/actuator.h b/src/actuator.h
index b1a0ca8..40b85c4 100644
--- a/src/actuator.h
+++ b/src/actuator.h
@@ -31,8 +31,14 @@
 
 #define XL320               (uint16_t)350
 
+#define XC430_W150          (uint16_t)1070
+#define XC430_W240          (uint16_t)1080
+#define XXC430_W250         (uint16_t)1160
+
 #define XL430_W250          (uint16_t)1060
 
+#define XXL430_W250         (uint16_t)1090
+
 #define XM430_W210          (uint16_t)1030
 #define XM430_W350          (uint16_t)1020
 
@@ -176,9 +182,6 @@ enum ControlTableItem{
   LAST_DUMMY_ITEM = 0xFF
 };
 
-
-
-
 namespace DYNAMIXEL{
 
 typedef struct ControlTableItemInfo{
@@ -186,10 +189,8 @@ typedef struct ControlTableItemInfo{
   uint8_t addr_length;
 } ControlTableItemInfo_t;
 
-
 ControlTableItemInfo_t getControlTableItemInfo(uint16_t model_num, uint8_t control_item);
 
-
 } // namespace DYNAMIXEL
 
 #endif /* DYNAMIXEL_ACTUATOR_H_ */
\ No newline at end of file