diff --git a/dynamixel/model/h42_20_s300_r.py b/dynamixel/model/h42_20_s300_r.py
index 27543dfe881fec5ea1879d106ffe5b9405b1c701..e2a93bd82a9d479ba49fe3645a80e8362a7f0648 100644
--- a/dynamixel/model/h42_20_s300_r.py
+++ b/dynamixel/model/h42_20_s300_r.py
@@ -21,7 +21,7 @@ class H42_20_S300_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=465),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=10300),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=151875),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-151875),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/h42_20_s300_r_a.py b/dynamixel/model/h42_20_s300_r_a.py
index 6b9af01203979ed37ee3d491adbcb438e411c229..2ad325a4009db07afae9c69ef76d1ae41c1ae63b 100644
--- a/dynamixel/model/h42_20_s300_r_a.py
+++ b/dynamixel/model/h42_20_s300_r_a.py
@@ -24,7 +24,7 @@ class H42_20_S300_R_A(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10765),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=303454),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-303454),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/h54_100_s500_r.py b/dynamixel/model/h54_100_s500_r.py
index 351376916d2c8ac9ffbd7e6e15aeacc39c9aedea..83ac1ba6f641c407c71e8076e128a828acdbef50 100644
--- a/dynamixel/model/h54_100_s500_r.py
+++ b/dynamixel/model/h54_100_s500_r.py
@@ -21,7 +21,7 @@ class H54_100_S500_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=310),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=17000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=250961),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-250961),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/h54_100_s500_r_a.py b/dynamixel/model/h54_100_s500_r_a.py
index 8ce2b3328bda3a63a62a605ab8d3000ca75cb6c9..752154d24bf6e803ac3237be1bd368af07941ecf 100644
--- a/dynamixel/model/h54_100_s500_r_a.py
+++ b/dynamixel/model/h54_100_s500_r_a.py
@@ -24,7 +24,7 @@ class H54_100_S500_R_A(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10639),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-501433),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/h54_200_s500_r.py b/dynamixel/model/h54_200_s500_r.py
index 185e23335a4a001e738e307b70e58991809477b1..62e1df27b64b7ca9ffa146e1afc384ac6409a905 100644
--- a/dynamixel/model/h54_200_s500_r.py
+++ b/dynamixel/model/h54_200_s500_r.py
@@ -21,7 +21,7 @@ class H54_200_S500_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=620),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=17000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=250961),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-250961),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/h54_200_s500_r_a.py b/dynamixel/model/h54_200_s500_r_a.py
index 3f33e2038a0b3d0837131c2927c164c49bbeaa42..fc7827d70f34e83c96ddbdeebe64396f7f33eaff 100644
--- a/dynamixel/model/h54_200_s500_r_a.py
+++ b/dynamixel/model/h54_200_s500_r_a.py
@@ -24,7 +24,7 @@ class H54_200_S500_R_A(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=9982),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2900),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-501433),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/l42_10_s300_r.py b/dynamixel/model/l42_10_s300_r.py
index 6dada2bf5f207914d6daec0c2e54e2181294b812..8d37735471b35862034562716d20e7f881301d0c 100644
--- a/dynamixel/model/l42_10_s300_r.py
+++ b/dynamixel/model/l42_10_s300_r.py
@@ -21,7 +21,7 @@ class L42_10_S300_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=987),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=None),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=2048),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-2047),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=30),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/l54_30_s400_r.py b/dynamixel/model/l54_30_s400_r.py
index 18373b003fc8ac6e01ba44304e2ad5414ef57efc..cd6a8e0b617f9de3f8a3c34cd4949c045e7c470b 100644
--- a/dynamixel/model/l54_30_s400_r.py
+++ b/dynamixel/model/l54_30_s400_r.py
@@ -21,7 +21,7 @@ class L54_30_S400_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=100),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=9000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=144197),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-144197),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/l54_30_s500_r.py b/dynamixel/model/l54_30_s500_r.py
index 8cdcd3b29d68057b8b20ded7908ca54a17597282..46496dc9ef3e8b48aca7490910b28ac377ce59d3 100644
--- a/dynamixel/model/l54_30_s500_r.py
+++ b/dynamixel/model/l54_30_s500_r.py
@@ -21,7 +21,7 @@ class L54_30_S500_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=100),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=9000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=180692),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-180692),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/l54_50_s290_r.py b/dynamixel/model/l54_50_s290_r.py
index 0c7c06024722b2362b5eb6f6f42aa2af11b0d9e6..71ef15ccc4e3e9675a9a08002530257c7405b007 100644
--- a/dynamixel/model/l54_50_s290_r.py
+++ b/dynamixel/model/l54_50_s290_r.py
@@ -21,7 +21,7 @@ class L54_50_S290_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=120),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=103846),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-103846),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/l54_50_s500_r.py b/dynamixel/model/l54_50_s500_r.py
index 0aeac9513968ded4a32e03c7786f9107024cbf36..2e1c66ea25740ae3d8120cc843f6328f145a60ae 100644
--- a/dynamixel/model/l54_50_s500_r.py
+++ b/dynamixel/model/l54_50_s500_r.py
@@ -21,7 +21,7 @@ class L54_50_S500_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=120),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=180692),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-180692),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/m42_10_s260_r.py b/dynamixel/model/m42_10_s260_r.py
index 7038cff3f78d5874f5c5a2d3007866546d7e16e0..091b34a40c063d71dfe224ee01ef135db6ccd0f3 100644
--- a/dynamixel/model/m42_10_s260_r.py
+++ b/dynamixel/model/m42_10_s260_r.py
@@ -21,7 +21,7 @@ class M42_10_S260_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=300),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=131593),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-131593),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/m42_10_s260_r_a.py b/dynamixel/model/m42_10_s260_r_a.py
index b11180eaec42aa288514f64a1b26ddc606009be8..777612bf5ca666e6351743fa5d08fabdcacb3034 100644
--- a/dynamixel/model/m42_10_s260_r_a.py
+++ b/dynamixel/model/m42_10_s260_r_a.py
@@ -24,7 +24,7 @@ class M42_10_S260_R_A(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10867),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2600),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=262931),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-262931),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/m54_40_s250_r.py b/dynamixel/model/m54_40_s250_r.py
index 9e4b8a32aa18ea33108386d2386a4a0b009dcc7b..c61fb69449f797cfcf900edb7930db2f24c1ab8e 100644
--- a/dynamixel/model/m54_40_s250_r.py
+++ b/dynamixel/model/m54_40_s250_r.py
@@ -21,7 +21,7 @@ class M54_40_S250_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=120),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=125708),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-125708),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/m54_40_s250_r_a.py b/dynamixel/model/m54_40_s250_r_a.py
index c17da629fc850e8d8d36fe73fdd30a591d71b783..8af710051db3b2254becf553a0c948a38eecc8e3 100644
--- a/dynamixel/model/m54_40_s250_r_a.py
+++ b/dynamixel/model/m54_40_s250_r_a.py
@@ -24,7 +24,7 @@ class M54_40_S250_R_A(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11037),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2840),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-251173),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/m54_60_s250_r.py b/dynamixel/model/m54_60_s250_r.py
index 670c061684ece6fb7d35b2f29687645a10b38fbe..9f3b012ed15b548247b097eb72823f1403a0473f 100644
--- a/dynamixel/model/m54_60_s250_r.py
+++ b/dynamixel/model/m54_60_s250_r.py
@@ -21,7 +21,7 @@ class M54_60_S250_R(Servo):
'torque_limit': RWRow(name='torque_limit', address=30, size=2, default=180),
'velocity_limit': RWRow(name='velocity_limit', address=32, size=4, default=8000),
'max_position_limit': RWRow(name='max_position_limit', address=36, size=4, default=125708),
- 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=40, size=4, default=-125708),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(44, 48)], size=1),
'shutdown': RWRow(name='shutdown', address=48, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(49, 561, 2)], size=2)
diff --git a/dynamixel/model/m54_60_s250_r_a.py b/dynamixel/model/m54_60_s250_r_a.py
index 28c2c27c4a967949cb91f7d9ac8db19f11902101..2f84cba7625b8e32466ea1d399eba08e14cc9c92 100644
--- a/dynamixel/model/m54_60_s250_r_a.py
+++ b/dynamixel/model/m54_60_s250_r_a.py
@@ -24,7 +24,7 @@ class M54_60_S250_R_A(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11145),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2830),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-251173),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/ph42_020_s300_r.py b/dynamixel/model/ph42_020_s300_r.py
index fbb70f078bfeceb70c4d4beef1928433e458b595..653ef4f24c98def7f65d48ac2f43b40f95c1f427 100644
--- a/dynamixel/model/ph42_020_s300_r.py
+++ b/dynamixel/model/ph42_020_s300_r.py
@@ -25,7 +25,7 @@ class PH42_020_S300_R(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10765),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=303454),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-303454),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/ph54_100_s500_r.py b/dynamixel/model/ph54_100_s500_r.py
index d9e8a737dd8071a072da7651a918c58f6b0531b0..c62ad73350969728d9150a1105a9077c33a38d39 100644
--- a/dynamixel/model/ph54_100_s500_r.py
+++ b/dynamixel/model/ph54_100_s500_r.py
@@ -25,7 +25,7 @@ class PH54_100_S500_R(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10639),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2920),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-501433),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/ph54_200_s500_r.py b/dynamixel/model/ph54_200_s500_r.py
index 8aff1417cc6aec14af1bb620f0be661e0f6b9be2..a08eb9b748892d30ddad44293f55e66ffbf8e57b 100644
--- a/dynamixel/model/ph54_200_s500_r.py
+++ b/dynamixel/model/ph54_200_s500_r.py
@@ -25,7 +25,7 @@ class PH54_200_S500_R(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=9982),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2900),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=501433),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-501433),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=52),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/pm42_010_s260_r.py b/dynamixel/model/pm42_010_s260_r.py
index b82f5d99e11a6e377b5277258287e748fedbc35e..19cb220929ed9df37c47e6b26eff821b597aee69 100644
--- a/dynamixel/model/pm42_010_s260_r.py
+++ b/dynamixel/model/pm42_010_s260_r.py
@@ -25,7 +25,7 @@ class PM42_010_S260_R(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=10867),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2600),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=262931),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-262931),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/pm54_040_s250_r.py b/dynamixel/model/pm54_040_s250_r.py
index db44d55fbe44e31058e0736eee06752291c7e5c7..aeaa22e52b07331591bb562b6a37e6a0161e44e1 100644
--- a/dynamixel/model/pm54_040_s250_r.py
+++ b/dynamixel/model/pm54_040_s250_r.py
@@ -25,7 +25,7 @@ class PM54_040_S250_R(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11037),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2840),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-251173),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/dynamixel/model/pm54_060_s250_r.py b/dynamixel/model/pm54_060_s250_r.py
index 19ba4c0514a76e9797f32c95bacd3aee6cade539..6a71a0481d01caca8be0296e48107f7068cf17ce 100644
--- a/dynamixel/model/pm54_060_s250_r.py
+++ b/dynamixel/model/pm54_060_s250_r.py
@@ -25,7 +25,7 @@ class PM54_060_S250_R(Servo):
'acceleration_limit': RWRow(name='acceleration_limit', address=40, size=4, default=11145),
'velocity_limit': RWRow(name='velocity_limit', address=44, size=4, default=2830),
'max_position_limit': RWRow(name='max_position_limit', address=48, size=4, default=251173),
- 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=None),
+ 'min_position_limit': RWRow(name='min_position_limit', address=52, size=4, default=-251173),
'external_port_mode': IndirectRow(name='external_port_mode', addresses=[range(56, 60)], size=1),
'shutdown': RWRow(name='shutdown', address=63, size=1, default=58),
'indirect_address': IndirectRow(name='indirect_address', addresses=[range(168, 424, 2)], size=2)
diff --git a/tools/html2py.py b/tools/html2py.py
index 15bda5a5c82f4e2be4ea5dbeabba19c9e380c05b..89171fc83e5d188041670ba869da34d52f3e7aef 100755
--- a/tools/html2py.py
+++ b/tools/html2py.py
@@ -86,13 +86,17 @@ class ParsedRow(Row):
if not (m and address.isdigit()):
raise ValueError((name, address, size, access, default,
ranges, unit))
+ def int_or_none(s):
+ if s.isdigit() or s[0] == '-' and s[1:].isdigit():
+ return(int(s))
+ return None
super(ParsedRow, self).__init__(
name=m.group(1),
index=m.group(2),
address=int(address),
size=int(size),
access=set(access),
- default=int(default) if default.isdigit() else None,
+ default=int_or_none(default),
ranges=ranges,
unit=unit)