diff --git a/wx250s_custom/modes.yaml b/wx250s_custom/modes.yaml
new file mode 100644
index 0000000..17c0834
--- /dev/null
+++ b/wx250s_custom/modes.yaml
@@ -0,0 +1,9 @@
+groups:
+  arm:
+    operating_mode: position
+    profile_type: time
+    profile_velocity: 2000
+    profile_acceleration: 300
+    torque_enable: true
+
+singles: