diff --git a/dynamixel_base/include/dynamixel_master.h b/dynamixel_base/include/dynamixel_master.h
index 44bd9237401c30dc4bae3a597ad7806fe998ad38..3b3b4e057fd0b294a1d8c98564534d6d63fe8f8f 100644
--- a/dynamixel_base/include/dynamixel_master.h
+++ b/dynamixel_base/include/dynamixel_master.h
@@ -7,11 +7,11 @@
 
 
 #ifndef MAX_DYN_MASTER_TX_BUFFER_LEN
-  #define       MAX_DYN_MASTER_TX_BUFFER_LEN      1024
+  #define       MAX_DYN_MASTER_TX_BUFFER_LEN      256
 #endif
 
 #ifndef MAX_DYN_MASTER_RX_BUFFER_LEN
-  #define       MAX_DYN_MASTER_RX_BUFFER_LEN      1024
+  #define       MAX_DYN_MASTER_RX_BUFFER_LEN      256
 #endif
 
 typedef struct
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 3824869689d25caee4eba823f857d872d4c3e269..dc89a3539335ce1faad6c0773ece97399a7c5f33 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -131,7 +131,6 @@ unsigned char dummy_dyn_slave_on_relay(TDynVersion version,unsigned char *inst_p
   return DYN_NO_DEVICE;
 }
 
-
 void dyn_slave_send_status_packet(TDynamixelSlave *slave,unsigned char error,unsigned short int length, unsigned char *data)
 {
   // wait until the previous transmission has ended (if any)
diff --git a/utils/include/buffer.h b/utils/include/buffer.h
index 794c92c04d209e91deb1a11504ab52814e4ec8ec..a2a5abd582a6c7fb39cd2aab1279027566f33c67 100644
--- a/utils/include/buffer.h
+++ b/utils/include/buffer.h
@@ -8,7 +8,7 @@
    * \brief Size of the buffer in bytes
    * 
    */
-  #define MAX_BUFFER_LENGTH 512
+  #define MAX_BUFFER_LENGTH 256
 #endif
 
 /**