Hello all, I am having XM-430 motors which I want to control for multi-turns.

I followed the steps as described in below link: http://wiki.ros.org/dynamixel_controllers/Tutorials/CreatingAMultiTurnJointController

This is what I did : - Changed the Operating mode (Register number 11) to 4 instead of 3 (default). - Changed the angle limit from 0 to 8192

But still I am not able to set the multi-turns. Can somebody let me know what extra changes I have to do to enable multi-turns.