diff --git a/dynamixel_base/src/dynamixel2.c b/dynamixel_base/src/dynamixel2.c
index 1a7612e8647149b4cd4bd1577633507853836aa1..72748eff9ecf0218e23bf0b78b5e320ccc7cc578 100644
--- a/dynamixel_base/src/dynamixel2.c
+++ b/dynamixel_base/src/dynamixel2.c
@@ -484,3 +484,8 @@ unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char
 
   return length;
 }
+
+inline unsigned char dyn2_get_read_status_id(unsigned char *packet)
+{
+  return packet[DYN2_ID_OFF];
+}
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 5c3026a716316f970ec3549e8bbaf1b14f822fb6..269316c0ea34837531c5fa7521797df94fc47f32 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -113,22 +113,22 @@ void dummy_dyn_slave_on_ping(void)
 
 unsigned char dummy_dyn_slave_on_read(unsigned short int address,unsigned short int length,unsigned char *data)
 {
-  return 0x00;
+  return DYN_SUCCESS;
 }
 
 unsigned char dummy_dyn_slave_on_write(unsigned short int address,unsigned short int length,unsigned char *data)
 {
-  return 0x00;
+  return DYN_SUCCESS;
 }
 
 unsigned char dummy_dyn_slave_on_reset(void)
 {
-  return 0x00;
+  return DYN_SUCCESS;
 }
 
 unsigned char dummy_dyn_slave_on_relay(TDynVersion version,unsigned char *inst_pkt,unsigned char *status_pkt)
 {
-  return 0x00;
+  return DYN_NO_DEVICE;
 }