What each Dynamixel model can do, keyed on the model_number it reports.

Two things can't be read off the bus and can't be inferred from the control table: which operating modes a servo implements, and how much torque an amp of current buys. Both are per-model, and a single bus can mix models — an XM430 and an XL430 answer to the same control table but only one of them can do current control.

Torque constants

Robotis publishes a torque constant in the specification table for each model, at each of the three supply voltages. The figure here is the one at the recommended voltage. It moves with supply: a few percent across the XM430 range, closer to a fifth across the XL330 range, so treat effort in newton metres as approximate rather than calibrated.

Coverage

Only the models below are known. An unrecognised servo can still be driven in position mode — that needs nothing from this table — but anything else is refused rather than guessed at. If you have a model that isn't here, its numbers are in the specification table on Robotis' e-manual.