diff --git a/src/bioloid_robot.cpp b/src/bioloid_robot.cpp
index f277b94a95f7485ae3ed3c44733f116680f9d45c..e6fff49bf5c9cf8afff3961e47515e1b06d47a81 100644
--- a/src/bioloid_robot.cpp
+++ b/src/bioloid_robot.cpp
@@ -405,6 +405,7 @@ void CBioloidRobot::mm_set_period(double period_ms)
     // internal time in 0|16 fixed point float format in seconds
     period=period_ms*1000.0; 
     this->robot_device->write_word_register(BIOLOID_MM_PERIOD_L,period);
+    usleep(10000);
   }
   else
     throw CBioloidRobotException(_HERE_,"Invalid robot device");
@@ -493,7 +494,6 @@ void CBioloidRobot::mm_disable_balance(void)
   }
   else
     throw CBioloidRobotException(_HERE_,"Invalid robot device");
-
 }
 
 bool CBioloidRobot::mm_is_balance_enabled(void)