Dynamixel and Arduino shield - setGoalVelocity problem

Hello,

I am testing Dynamixel Shield from Robotis along with Arduino Leonardo and XL430-W250T servo motors.
I cannot change (slow down) the speed of servo motors by calling:

shield.setGoalVelocity(servo_id, 20.0, UNIT_PERCENT);

I am not sure if I understand the library API correctly. I want to change the speed of dynamixel servos and
then use them in OP_POSITION operating mode.

I am not sure if I understand the library API correctly.

Which library would that be ?

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