diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index 2592292..a1c00fc 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -915,6 +915,33 @@ bool Dynamixel2Arduino::getTorqueEnableStat(uint8_t id)
   return ret;
 }
 
+uint8_t Dynamixel2Arduino::getMovingStatus(uint8_t id)
+{
+  uint16_t model_num = getModelNumberFromTable(id);
+  uint8_t ret = 0;
+
+  if(model_num == UNREGISTERED_MODEL){
+    if(setModelNumber(id, getModelNumber(id)) == true){
+      model_num = getModelNumberFromTable(id);
+    }
+  }
+
+  if(model_num == AX12A || model_num == AX12W || model_num == AX18A || model_num == DX113 || model_num == DX116 || model_num == DX117 || model_num == RX10 || model_num == RX24F || model_num == RX28 || model_num == RX64 || model_num == EX106 || model_num == MX12W || model_num == MX28 || model_num == MX64 || model_num == MX106 || model_num == XL320)
+  {
+    setLastLibErrCode(DXL_LIB_ERROR_NOT_SUPPORTED);
+  }
+  else if(model_num == YM070_210_M001_RH || model_num == YM070_210_B001_RH || model_num == YM070_210_R051_RH || model_num == YM070_210_R099_RH || model_num == YM070_210_A051_RH || model_num == YM070_210_A099_RH || model_num == YM080_230_M001_RH || model_num == YM080_230_B001_RH || model_num == YM080_230_R051_RH || model_num == YM080_230_R099_RH || model_num == YM080_230_A051_RH || model_num == YM080_230_A099_RH)
+  {
+    setLastLibErrCode(DXL_LIB_ERROR_NOT_SUPPORTED);
+  }
+  else
+  {
+    ret = (uint8_t)readControlTableItem(ControlTableItem::MOVING_STATUS, id);
+  }
+
+  return ret;
+}
+
 int32_t Dynamixel2Arduino::readControlTableItem(uint8_t item_idx, uint8_t id, uint32_t timeout)
 {
   int32_t ret = 0;
diff --git a/src/Dynamixel2Arduino.h b/src/Dynamixel2Arduino.h
index 29a6b52..fb3f2c3 100644
--- a/src/Dynamixel2Arduino.h
+++ b/src/Dynamixel2Arduino.h
@@ -48,6 +48,14 @@ enum D2ALibErrorCode
   D2A_LIB_ERROR_UNKNOWN_MODEL_NUMBER
 };
 
+enum MovingStatus
+{
+  IN_POSITION = 0x01,
+  PROFILE_ONGOING = 0x02,
+  FOLLOWING_ERROR = 0x08,
+  VELOCITY_PROFILE = 0x30
+};
+
 class Dynamixel2Arduino : public DYNAMIXEL::Master
 {
   public:
@@ -387,6 +395,40 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
      */  
     bool getTorqueEnableStat(uint8_t id);   
 
+    /**
+     * @brief It is API for getting the moving status of DYNAMIXEL.
+     * @code
+     * const int DXL_DIR_PIN = 2;
+     * Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
+     * status = dxl.getMovingStatus(1);
+     * if ((status & IN_POSITION) == IN_POSITION) {
+     *   Serial.print("Arrived");
+     * }
+     * if ((status & PROFILE_ONGOING) == PROFILE_ONGOING) {
+     *   Serial.print("Profile is in progress");
+     * }
+     * if ((status & FOLLOWING_ERROR) == FOLLOWING_ERROR) {
+     *   Serial.print("Not following desired position trajectory");
+     * }
+     * if ((status & VELOCITY_PROFILE) == VELOCITY_PROFILE) {
+     *   Serial.print("Using trapezoidal profile");
+     * }
+     * else if ((status & VELOCITY_PROFILE) == VELOCITY_PROFILE) {
+     *   Serial.print("Using triangular profile");
+     * }
+     * else if ((status & VELOCITY_PROFILE) == VELOCITY_PROFILE) {
+     *   Serial.print("Using rectangular profile");
+     * }
+     * else {
+     *   Serial.print("Not using any profile (step)");
+     * }
+     * @endcode
+     * @param id DYNAMIXEL Actuator's ID.
+     * @return It returns the data read from DXL control table item.
+     * If the read fails, 0 is returned. Whether or not this is an actual value can be confirmed with @getLastLibErrCode().
+     */
+    uint8_t getMovingStatus(uint8_t id);
+
     /**
      * @brief It is API for getting data of a DYNAMIXEL control table item.
      * @code