diff --git a/library.properties b/library.properties
index 533833e..9ab44cb 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Dynamixel2Arduino
-version=0.8.1
+version=0.8.2
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Sookyung Son(sukaa@robotis.com)
diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index 6222112..78558b8 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -37,6 +37,7 @@ const uint16_t model_number_table[] PROGMEM = {
     XC330_M288,    
     XC330_T181,
     XC330_T288,    
+    XM335_T323,
     XL430_W250,
     XXL430_W250,
     XC430_W150,  XC430_W240,
@@ -308,6 +309,7 @@ bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
           return false;                    
       }    
       break;
+    case XM335_T323:
     case XC330_M288:
     case XC330_M181:
     case XC330_T288:
@@ -727,7 +729,8 @@ bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
     case XC330_M288:
     case XC330_M181:    
     case XC330_T181:
-    case XC330_T288:    
+    case XC330_T288:
+    case XM335_T323:    
     case XM430_W210:
     case XM430_W350:
     case XH430_V210:
@@ -1190,6 +1193,7 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGM
   || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
   || ENABLE_ACTUATOR_XL330 \
   || ENABLE_ACTUATOR_XC330 \
+  || ENABLE_ACTUATOR_XM335 \
   || ENABLE_ACTUATOR_XC430 \
   || ENABLE_ACTUATOR_XL430 \
   || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 || ENABLE_ACTUATOR_XD430 \
@@ -1267,6 +1271,17 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xc330_t181_t288[] PROGMEM
   {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
 };
 
+const ModelDependencyFuncItemAndRangeInfo_t dependency_xm335_t323[] PROGMEM = {
+  #if (ENABLE_ACTUATOR_XM335)
+    {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -910, 910, 1},
+    {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -910, 910, 1},
+  
+    {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+    {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+  #endif
+    {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
+  };
+
 const ModelDependencyFuncItemAndRangeInfo_t dependency_xm430_w210_w350[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XM430)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
@@ -1692,6 +1707,11 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
       p_dep_ctable = dependency_xc330_t181_t288;
       break;
 
+    case XM335_T323:
+      p_common_ctable = dependency_ctable_2_0_common;
+      p_dep_ctable = dependency_xm335_t323;
+      break;
+
     case XM430_W210:
     case XM430_W350:
       p_common_ctable = dependency_ctable_2_0_common;
diff --git a/src/actuator.cpp b/src/actuator.cpp
index a37bca0..5f63c83 100644
--- a/src/actuator.cpp
+++ b/src/actuator.cpp
@@ -170,6 +170,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
  || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
  || ENABLE_ACTUATOR_XL330 \
  || ENABLE_ACTUATOR_XC330 \
+ || ENABLE_ACTUATOR_XM335 \
  || ENABLE_ACTUATOR_XL430 \
  || ENABLE_ACTUATOR_XC430 \
  || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 || ENABLE_ACTUATOR_XD430 \
@@ -258,6 +259,7 @@ const ModelControlTableInfo_t xc430_xl430_control_table[] PROGMEM = {
 const ModelControlTableInfo_t xmh430_xl330_control_table[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XL330 \
  || ENABLE_ACTUATOR_XC330 \
+ || ENABLE_ACTUATOR_XM335 \
  || ENABLE_ACTUATOR_XM430 \
  || ENABLE_ACTUATOR_XH430)
   {ControlTableItem::CURRENT_LIMIT,           38, 2},
@@ -570,7 +572,8 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
     case XC330_M181:
     case XC330_M288:
     case XC330_T181:
-    case XC330_T288:    
+    case XC330_T288:   
+    case XM335_T323: 
     case XM430_W210:
     case XM430_W350:
     case XH430_V210:
diff --git a/src/actuator.h b/src/actuator.h
index be37d48..cf7b54f 100644
--- a/src/actuator.h
+++ b/src/actuator.h
@@ -93,6 +93,10 @@
 #define XC330_T288          (uint16_t)1220
 #endif
 
+#ifndef XM335_T323
+#define XM335_T323          (uint16_t)1710
+#endif
+
 #ifndef XC430_W150
 #define XC430_W150          (uint16_t)1070
 #endif
diff --git a/src/utility/config.h b/src/utility/config.h
index eac11b0..41d0e4b 100644
--- a/src/utility/config.h
+++ b/src/utility/config.h
@@ -18,6 +18,7 @@
 #define ENABLE_ACTUATOR_XL320           1
 #define ENABLE_ACTUATOR_XL330           1
 #define ENABLE_ACTUATOR_XC330           1
+#define ENABLE_ACTUATOR_XM335           1
 #define ENABLE_ACTUATOR_XL430           1  // includes 2XL430
 #define ENABLE_ACTUATOR_XC430           1  // includes 2XC430
 #define ENABLE_ACTUATOR_XM430           1