diff --git a/rtc/ServoController/ServoController.cpp b/rtc/ServoController/ServoController.cpp
index 0cb117e2622..7960733ed1b 100644
--- a/rtc/ServoController/ServoController.cpp
+++ b/rtc/ServoController/ServoController.cpp
@@ -333,7 +333,7 @@ bool ServoController::setJointAnglesOfGroup(const char *gname, const OpenHRP::Se
             }
             rad[i] = (angles.get_buffer()[i])*dir+offset;
         }
-        serial->setPositions(servo_id.size(), id, rad, tms);
+        serial->setPositions(len, id, rad, tms);
     }
     return true;
 }
diff --git a/rtc/ServoController/ServoSerial.h b/rtc/ServoController/ServoSerial.h
index 98cef34190a..3105ad15476 100644
--- a/rtc/ServoController/ServoSerial.h
+++ b/rtc/ServoController/ServoSerial.h
@@ -361,7 +361,7 @@ class ServoSerial {
     timeout.tv_sec = 0;
     timeout.tv_usec = 200*1000;
     select(fd + 1, &set, NULL, NULL, &timeout);
-    ret2 = read(fd, &echo, 8+length*count);
+    ret2 = read(fd, echo, 8+length*count);
 
     
     fprintf(stderr, "[ServoSerial] received: ");