diff --git a/dynamixel_base/src/dynamixel_master.c b/dynamixel_base/src/dynamixel_master.c
index 0e7ead56714c4d48eb05d2d06c8dd6d47195e740..018ecfe058fddf6df74935788e566fe23f244af5 100644
--- a/dynamixel_base/src/dynamixel_master.c
+++ b/dynamixel_base/src/dynamixel_master.c
@@ -97,12 +97,12 @@ unsigned char dyn_master_send(TDynamixelMaster *master)
     master->tx_done=0x00;
     if(master->version==DYN_VER1)
     {
-      master->tx_dma(master->hal_dev,master->tx_buffer,dyn_get_length(master->tx_buffer)+4);
+      master->tx_dma(master->hal_dev,master->tx_buffer,dyn_get_length(master->tx_buffer)+6);
       return DYN_SUCCESS;
     }
     else
     {
-      master->tx_dma(master->hal_dev,master->tx_buffer,dyn2_get_length(master->tx_buffer)+7);
+      master->tx_dma(master->hal_dev,master->tx_buffer,dyn2_get_length(master->tx_buffer)+11);
       return DYN_SUCCESS;
     }
   }
@@ -168,12 +168,12 @@ unsigned char dyn_master_start_read_table(TDynamixelMaster *master,unsigned char
     if(master->version==DYN_VER1)
     {
       dyn_init_read_packet(master->tx_buffer,id,address,length);
-      master->rx_length=length+4;
+      master->rx_length=length+6;
     }
     else
     {
       dyn2_init_read_packet(master->tx_buffer,id,address,length);
-      master->rx_length=length+7;
+      master->rx_length=length+11;
     }
     if(master->return_level==no_return || id==DYN_BROADCAST_ID)
       master->rx_no_answer=0x01;
@@ -387,7 +387,7 @@ unsigned char dyn_master_start_sync_read(TDynamixelMaster *master,unsigned char
     if(master->version==DYN_VER2)
     { 
       dyn2_init_sync_read_packet(master->tx_buffer,num,ids,address,length);
-      master->rx_length=(length+7)*num;
+      master->rx_length=(length+11)*num;
       if(master->return_level==no_return)
         master->rx_no_answer=0x01;
       else
@@ -520,7 +520,7 @@ unsigned char dyn_master_start_bulk_read(TDynamixelMaster *master,unsigned char
       {
         ver1_address[i]=address[i];
         ver1_length[i]=length[i];
-        master->rx_length=(length[i]+4);
+        master->rx_length=(length[i]+6);
       }
       dyn_init_bulk_read_packet(master->tx_buffer,num,ids,ver1_address,ver1_length);
     }
@@ -529,7 +529,7 @@ unsigned char dyn_master_start_bulk_read(TDynamixelMaster *master,unsigned char
       dyn2_init_bulk_read_packet(master->tx_buffer,num,ids,address,length);
       master->rx_length=0;
       for(i=0;i<num;i++)
-        master->rx_length=(length[i]+7);
+        master->rx_length=(length[i]+11);
     }
     if(master->return_level==no_return)
       master->rx_no_answer=0x01;
@@ -675,7 +675,7 @@ unsigned char dyn_master_ping(TDynamixelMaster *master,unsigned char id)
     else
     {
       dyn2_init_ping_packet(master->tx_buffer,id);
-      master->rx_length=14;
+      master->rx_length=11;
     }
     master->rx_no_answer=0x00;
     // enable transmission
@@ -742,12 +742,12 @@ unsigned char dyn_master_read_table(TDynamixelMaster *master,unsigned char id,un
     if(master->version==DYN_VER1)
     {
       dyn_init_read_packet(master->tx_buffer,id,address,length);
-      master->rx_length=length+4;
+      master->rx_length=length+6;
     }
     else
     {
       dyn2_init_read_packet(master->tx_buffer,id,address,length);
-      master->rx_length=length+7;
+      master->rx_length=length+11;
     }
     if(master->return_level==no_return || id==DYN_BROADCAST_ID)
       master->rx_no_answer=0x01;
@@ -1021,7 +1021,7 @@ unsigned char dyn_master_sync_read(TDynamixelMaster *master,unsigned char num,un
     if(master->version==DYN_VER2)
     {
       dyn2_init_sync_read_packet(master->tx_buffer,num,ids,address,length);
-      master->rx_length=(length+7)*num;
+      master->rx_length=(length+11)*num;
       if(master->return_level==no_return)
         master->rx_no_answer=0x01;
       else
@@ -1083,7 +1083,7 @@ unsigned char dyn_master_bulk_read(TDynamixelMaster *master,unsigned char num,un
       {
         ver1_address[i]=address[i];
         ver1_length[i]=length[i];
-        master->rx_length=length[i]+4;
+        master->rx_length=length[i]+6;
       }
       dyn_init_bulk_read_packet(master->tx_buffer,num,ids,ver1_address,ver1_length);
     }
@@ -1092,7 +1092,7 @@ unsigned char dyn_master_bulk_read(TDynamixelMaster *master,unsigned char num,un
       dyn2_init_bulk_read_packet(master->tx_buffer,num,ids,address,length);
       master->rx_length=0;
       for(i=0;i<num;i++)
-        master->rx_length=(length[i]+7);
+        master->rx_length=(length[i]+11);
     }
     if(master->return_level==no_return)
       master->rx_no_answer=0x01;