Welcomed to the user community !
Firstly, You want to read the following post
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How Does current mode work in XM430-W210? - #2 by Andrew - DYNAMIXEL - ROBOTIS
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Setting the operating mode - #26 by Yogurt_Man - DYNAMIXEL - ROBOTIS
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What Servo and driver to use? - #7 by willson - DYNAMIXEL - ROBOTIS
Thanks !