Use the "robot terminal" software from Robotis (installed with your bioloid softwares).

Make sure your robot have batteries fully charged or is sinked by a power supply.

Connect your CM-5 brick to the serial comPort of your computer.

CM-5 shutoff, press '#' key on keyboard (Alt Gr + 3 on azerty keyboard, shift + 3 on qwerty), stay '#' pushed and switch on the CM-5 brick, (see bioloid documentation for more precision on how to enter bootstrap mode) you must see this:

  SYSTEM O.K. (CM5 boot loader V1.xx)
  -#######

Press enter key and type load and press enter key again:

  SYSTEM O.K. (CM5 boot loader V1.xx)
  -#######
  -load
  Write Address: 00000000
  Ready..

In menu bar select Files -> Transmit file (shortcut Ctrl+T) and select the URBI bioloid firmware (hex file), click open.

After a few seconds, loading ended:

  Ready..Success
  (and other information)