code: def check_motor_eprom_configuration(config, dxl_io, motor_names):
      
      changed_angle_limits = {}
      changed_return_delay_time = {}
  
      for name in motor_names:
          m = config['motors'][name]
          id = m['id']
  
          try:
              old_limits = dxl_io.get_angle_limit((id, ))[0]
              old_return_delay_time = dxl_io.get_return_delay_time((id, ))[0]
          except IndexError:  # probably a broken motor so we just skip
              continue
  
          if old_return_delay_time != 0:
              logger.warning("Return delay time of %s changed from %s to 0",
                             name, old_return_delay_time)
              changed_return_delay_time[id] = 0
  
          new_limits = m['angle_limit']
          if 'wheel_mode' in m and m['wheel_mode']:
              dxl_io.set_wheel_mode([m['id']])
              time.sleep(0.5)
          else:
              # TODO: we probably need a better fix for this.
              # dxl_io.set_joint_mode([m['id']])
  
              d = numpy.linalg.norm(numpy.asarray(new_limits) - numpy.asarray(old_limits))
              if d > 1:
                  logger.warning("Limits of '%s' changed from %s to %s",
                                 name, old_limits, new_limits,
                                 extra={'config': config})
                  changed_angle_limits[id] = new_limits
  
      if changed_angle_limits:
          dxl_io.set_angle_limit(changed_angle_limits)
          time.sleep(0.5)
  
      if changed_return_delay_time:
          dxl_io.set_return_delay_time(changed_return_delay_time)
          time.sleep(0.5)
docs: Change the angles limits depanding on the robot configuration ;
          Check if the return delay time is set to 0.