diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 7f63859a98b101a8459ff4be003ece57f0b5c23f..b34b9d4fe471f0e2f2f7078f754c20ca7a382c6f 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -27,7 +27,7 @@ int32_t main(void)
   bioloid_time_init();
   /* initialize zigbee module */
   zigbee_init();
-//  zigbee_enable_power();
+  zigbee_enable_power();
   /* initialize the dynamixel slave interface */
   bioloid_dyn_slave_init();
   bioloid_dyn_slave_start();
diff --git a/src/motion_manager.c b/src/motion_manager.c
index 15bcce05a08715823d66149ed5bc14660200810f..3b5a18de1a8d52dcb93542eb0392f8deb00a44ba 100644
--- a/src/motion_manager.c
+++ b/src/motion_manager.c
@@ -44,7 +44,7 @@ void manager_send_motion_command(void)
     }
   }
   if(num>0)
-    dyn_master_sync_write(&bioloid_dyn_master_servos,num,servo_ids,P_GOAL_POSITION_L,4,write_data);
+    dyn_master_sync_write(&bioloid_dyn_master_servos,num,servo_ids,P_CW_COMPLIANCE_SLOPE,4,write_data);
 }
 
 inline uint16_t manager_angle_to_value(uint8_t servo_id,int16_t angle)