diff --git a/src/lerobot/motors/feetech/tables.py b/src/lerobot/motors/feetech/tables.py
index 48814957f..91e844a72 100644
--- a/src/lerobot/motors/feetech/tables.py
+++ b/src/lerobot/motors/feetech/tables.py
@@ -206,8 +206,12 @@ MODEL_BAUDRATE_TABLE = {
 # Sign-Magnitude encoding bits
 STS_SMS_SERIES_ENCODINGS_TABLE = {
     "Homing_Offset": 11,
+    "Goal_Position": 15,
     "Goal_Velocity": 15,
+    "Goal_Speed": 15,
+    "Present_Position": 15,
     "Present_Velocity": 15,
+    "Present_Speed": 15,
 }
 
 MODEL_ENCODING_TABLE = {