diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index 2adaea157a882354647cad81c75fa47cc78232f5..cbe07d84c22b0506f3f14b21212560c858c648c8 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -466,19 +466,9 @@ void CDynamixelMotor::set_drive_mode(bool time_based,bool reverse)
   unsigned int value=0;
 
   if(time_based)
-  {
-    this->time_based_mode=true;
     value|=0x04;
-  }
-  else
-    this->time_based_mode=false;
   if(reverse)
-  {
-    this->reverse_mode=true;
     value|=0x01;
-  }
-  else
-    this->reverse_mode=false;
   if(this->registers==NULL)
     throw CDynamixelMotorException(_HERE_,"Unknown dynamixel model.");
   this->write_register(this->registers[drive_mode],value);