A: This happen when your bioloid CM-5 module is power down or when you connect on the bad RS232 port (COMport).

-------------------------------------------------------------
| bad response:
| - error: 8: range error
| - id: 10
| - value: 0
| - raw value: [235, ]
| - value length: 0
-------------------------------------------------------------

A: This message is specific to the CM-5 module. It's a status packet containing the error. Please check the AX-12 documentation to interprete this error.

In most of case, this happenned when you switched from speed mode to close-loop control mode by setting ccwAngleLimit and cwAngleLimit. if the position (.val) isn't in the range and you call a motor__X.val=y; this kind of error is throwed: this is normal.

A: We have implemented in the firmware the battery management. It is the same procedure as the original firmware : push U ("up") button. Power Led shall blink to the end of the charge. this documentation Leds-Code-Battery-management.odt (OpenOffice format) explain in detail all the signification of leds behaviour on CM-5 with URBI firmware.

A: As we develop a new firmware, the old functionalities from Robotis are unavailalble while Urbi firmware is in the CM-5. Actually, only the U button has a use (see above), Mode button reset the CM-5 module, others are useless (see documentation above for details).