diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index 08a7a721b8a129a3a07b04a2af8d209298e18fa1..fafd0d4c5d00539c433513e8f6f981d95d478a9a 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -1004,7 +1004,7 @@ void CDynamixelMotor::move_absolute_angle(double angle,double speed,double curre
     if(speed>this->info.max_speed)
       speed=this->info.max_speed;
     data=this->from_speeds(speed);
-    this->write_register(this->registers[goal_speed],data);
+    this->write_register(this->registers[profile_vel],data);
   }
 }