diff --git a/README.md b/README.md
index 844b299..d4b7969 100644
--- a/README.md
+++ b/README.md
@@ -25,7 +25,8 @@ $ . install/setup.bash
 
 ### Configure Dynamixel motor parameters
 
-Update the `usb_port`, `baud_rate`, and `joint_ids` parameters on [`open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro`](https://github.com/youtalk/dynamixel_control/blob/main/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro#L9-L12) to correctly communicate with Dynamixel motors.
+Update the `usb_port`, `baud_rate`, `return_delay_time` and `joint_ids` parameters on [`open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro`](https://github.com/youtalk/dynamixel_control/blob/main/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro#L9-L12) to correctly communicate with Dynamixel motors.
+The `return_delay_time` sets the amount of delay in microseconds before they respond to a packet.
 The `use_dummy` parameter is required if you don't have a real OpenManipulator-X.
 
 Note that `joint_ids` parameters must be splited by `,`.
@@ -35,6 +36,7 @@ Note that `joint_ids` parameters must be splited by `,`.
   <plugin>dynamixel_hardware/DynamixelHardware</plugin>
   <param name="usb_port">/dev/ttyUSB0</param>
   <param name="baud_rate">1000000</param>
+  <param name="return_delay_time">10</param>
   <!-- <param name="use_dummy">true</param> -->
 </hardware>
 ```
@@ -86,6 +88,7 @@ index c6cdb74..111846d 100644
 @@ -9,7 +9,7 @@
          <param name="usb_port">/dev/ttyUSB0</param>
          <param name="baud_rate">1000000</param>
+         <param name="return_delay_time">250</param>
 -        <!-- <param name="use_dummy">true</param> -->
 +        <param name="use_dummy">true</param>
        </hardware>
diff --git a/dynamixel_hardware/src/dynamixel_hardware.cpp b/dynamixel_hardware/src/dynamixel_hardware.cpp
index 720db9e..e83f41e 100644
--- a/dynamixel_hardware/src/dynamixel_hardware.cpp
+++ b/dynamixel_hardware/src/dynamixel_hardware.cpp
@@ -38,6 +38,7 @@ constexpr const char * kPresentVelocityItem = "Present_Velocity";
 constexpr const char * kPresentSpeedItem = "Present_Speed";
 constexpr const char * kPresentCurrentItem = "Present_Current";
 constexpr const char * kPresentLoadItem = "Present_Load";
+constexpr const char * kReturnDelayTimeItem = "Return_Delay_Time";
 constexpr const char * const kExtraJointParameters[] = {
   "Profile_Velocity",
   "Profile_Acceleration",
@@ -83,10 +84,12 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
 
   auto usb_port = info_.hardware_parameters.at("usb_port");
   auto baud_rate = std::stoi(info_.hardware_parameters.at("baud_rate"));
+  auto return_delay_time = std::stoi(info_.hardware_parameters.at("return_delay_time"));
   const char * log = nullptr;
 
   RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "usb_port: %s", usb_port.c_str());
   RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "baud_rate: %d", baud_rate);
+  RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "return_delay_time: %d", return_delay_time);
 
   if (!dynamixel_workbench_.init(usb_port.c_str(), baud_rate, &log)) {
     RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
@@ -99,6 +102,16 @@ CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo
       RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
       return CallbackReturn::ERROR;
     }
+    RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Ping successful for ID %d, Model number: %d", joint_ids_[i], model_number);
+    int32_t current_return_delay_time = 0;
+    if (dynamixel_workbench_.itemRead(joint_ids_[i], kReturnDelayTimeItem, &current_return_delay_time, &log) && current_return_delay_time != return_delay_time)
+    {
+      if (!dynamixel_workbench_.itemWrite(joint_ids_[i], kReturnDelayTimeItem, return_delay_time, &log)) {
+        RCLCPP_FATAL(rclcpp::get_logger(kDynamixelHardware), "%s", log);
+        return CallbackReturn::ERROR;
+      }
+      RCLCPP_INFO(rclcpp::get_logger(kDynamixelHardware), "Successfully set return delay time for ID %d from %d to %d.", joint_ids_[i], current_return_delay_time, return_delay_time); 
+    }
   }
 
   enable_torque(false);
diff --git a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
index ee84c94..76fb518 100644
--- a/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
+++ b/open_manipulator_x_description/urdf/open_manipulator_x.ros2_control.xacro
@@ -8,6 +8,7 @@
         <plugin>dynamixel_hardware/DynamixelHardware</plugin>
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
+        <param name="return_delay_time">250</param>
         <!-- <param name="use_dummy">true</param> -->
       </hardware>
       <joint name="joint1">
diff --git a/pantilt_bot_description/urdf/pantilt_bot.ros2_control.xacro b/pantilt_bot_description/urdf/pantilt_bot.ros2_control.xacro
index ad25ae7..b97be17 100644
--- a/pantilt_bot_description/urdf/pantilt_bot.ros2_control.xacro
+++ b/pantilt_bot_description/urdf/pantilt_bot.ros2_control.xacro
@@ -8,6 +8,7 @@
         <plugin>dynamixel_hardware/DynamixelHardware</plugin>
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
+        <param name="return_delay_time">250</param>
         <!-- <param name="use_dummy">true</param> -->
       </hardware>
       <joint name="joint1">