Dynamixel Speed control / wheel (continuous rotation) mode

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Hi,

I have started working with Dynamixel motors (RX-64), and I know that it is possible to use the motor in a continuous rotation (a.k.a wheel) mode. I can't seem to figure out how this should be done?

Somewhere I found that if I set the motor's CW and CCW angles to 0, it should change to a speed controller, but I can't figure out how? I have tried calling a service of set_speed.

In addition, can someone explain what does the values in the motor field in the tilt.yaml file? There is init, min, max. I understand that it is something to do with the angles, but don't understand what.

Thanks,