diff --git a/include/dynamixel_motor.h b/include/dynamixel_motor.h
index ec911da17c82cbeb73441c4c96c701f9f26baa44..7a99d9483614c23f39822b9ba87fe07d8d067fd2 100644
--- a/include/dynamixel_motor.h
+++ b/include/dynamixel_motor.h
@@ -480,6 +480,11 @@ class CDynamixelMotor
      *
      */
     void get_drive_mode(bool &time_based,bool &reverse);
+    /**
+     * \ brief
+     *
+     */
+    unsigned short int get_register_address(reg_id id);
     /**
      * \brief 
      *  
diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index e2f60a31ec65348b5d1f62f4f4a2b88b8b8457d3..3d75e7486701bed8774b8889f7cee35e878a6262 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -1404,6 +1404,11 @@ void CDynamixelMotor::get_drive_mode(bool &time_based,bool &reverse)
   }
 }
 
+unsigned short int CDynamixelMotor::get_register_address(reg_id id)
+{
+  return this->registers[id].address;
+}
+
 CDynamixelMotor::~CDynamixelMotor()
 {
   /* stop the motor */
diff --git a/src/dynamixel_registers.cpp b/src/dynamixel_registers.cpp
index 29cd4f96406d3b3bd03814e420689369a95a24ac..8a718168ca7326285819f7673bf940a1aaef3001 100644
--- a/src/dynamixel_registers.cpp
+++ b/src/dynamixel_registers.cpp
@@ -418,4 +418,4 @@ TDynReg mx_28_2_0_reg[NUM_REG]={// Info
                          {0x007C,2,false},
                          {0x0078,2,false},
                          {0x0088,5,false},
-                         {0x008C,4,false}};
\ No newline at end of file
+                         {0x008C,4,false}};