diff --git a/dynamixel_base/include/dynamixel_slave.h b/dynamixel_base/include/dynamixel_slave.h
index cac4d0b20b0e4417b2902f36f1ad85d3ea1ac5dc..64f8d751f22e4f766651c3b764d9c2e19a78a6d8 100644
--- a/dynamixel_base/include/dynamixel_slave.h
+++ b/dynamixel_base/include/dynamixel_slave.h
@@ -133,6 +133,15 @@ inline void dyn_slave_set_rx_timeout(TDynamixelSlave *slave,unsigned short int t
  *
  */
 inline TDynVersion dyn_slave_get_version(TDynamixelSlave *slave);
-
+/**
+ * \brief
+ *
+ */
+void dyn_slave_start(TDynamixelSlave *slave);
+/**
+ * \brief
+ *
+ */
+void dyn_slave_stop(TDynamixelSlave *slave);
 
 #endif
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 77232d7e05ac6300e7756d1ac487fe0a6be1c089..6afdbe8076451d1cd205c32119123762182443af 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -270,3 +270,13 @@ TDynVersion dyn_slave_get_version(TDynamixelSlave *slave)
     return DYN_VER1;
 }
 
+void dyn_slave_start(TDynamixelSlave *slave)
+{
+  scheduler_enable_channel(slave->scheduler,slave->sch_channel);
+}
+
+void dyn_slave_stop(TDynamixelSlave *slave)
+{
+  scheduler_disable_channel(slave->scheduler,slave->sch_channel);
+}
+