diff --git a/dynamixel_manager/test/dyn_man_test.c b/dynamixel_manager/test/dyn_man_test.c
index b22b50d90a24079643cd0d4516764b99ecf5ce3e..db11313e2cf84aef072d3d9b6a63202ac44fba79 100644
--- a/dynamixel_manager/test/dyn_man_test.c
+++ b/dynamixel_manager/test/dyn_man_test.c
@@ -281,6 +281,7 @@ int main(void)
 {
   int i;
   TMotionManager mmanager;
+  TActionMModule action;
   TTime dyn_master1_timer; 
   TComm dyn_master1_comm;
   TTime dyn_master2_timer; 
@@ -296,14 +297,14 @@ int main(void)
   comm_init(&dyn_master2_comm,0x01,&dyn_master2_timer);
   dyn_master_init(&dyn_master2,&dyn_master2_comm,DYN_VER2);
 
-  dyn_manager_init(&manager,&memory,&scheduler,SCHED_CH1,0x0000,0x0064);
+  dyn_manager_init(&manager,&memory,&scheduler,SCHED_CH1,0,64);
   dyn_manager_set_period(&manager,14);
   dyn_manager_add_master(&manager,&dyn_master1);
   dyn_manager_add_master(&manager,&dyn_master2);
   // init modules
   mmanager_init(&mmanager,&memory,16,128);
-  action_init();
-  mmanager_add_module(&mmanager,action_get_module());
+  action_init(&action,&memory,256);
+  mmanager_add_module(&mmanager,action_get_module(&action));
   dyn_manager_add_module(&manager,mmanager_get_dyn_module(&mmanager));
   dyn_module_set_period(mmanager_get_dyn_module(&mmanager),1);
   dyn_module_enable(mmanager_get_dyn_module(&mmanager));
@@ -316,8 +317,8 @@ int main(void)
     mmanager_enable_servo(&mmanager,i);
   }
   /* load and start a page */
-  if(action_load_page(7))
-    action_start_page(); 
+  if(action_load_page(&action,7))
+    action_start_page(&action); 
 
   for(i=0;i<100;i++)
   {