diff --git a/src/Dynamixel2Arduino.h b/src/Dynamixel2Arduino.h
index 29a6b52..9c1186b 100644
--- a/src/Dynamixel2Arduino.h
+++ b/src/Dynamixel2Arduino.h
@@ -404,7 +404,7 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
      * If the read fails, 0 is returned. Whether or not this is an actual value can be confirmed with @getLastLibErrCode().
      */  
     int32_t readControlTableItem(uint8_t item_idx, 
-      uint8_t id, uint32_t timeout = 100);
+      uint8_t id, uint32_t timeout = 10);
 
     /**
      * @brief It is API for controlling data of a DYNAMIXEL control table item.
@@ -423,7 +423,7 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
      * @return It returns true(1) on success, false(0) on failure.
      */
     bool writeControlTableItem(uint8_t item_idx, 
-      uint8_t id, int32_t data, uint32_t timeout = 100);
+      uint8_t id, int32_t data, uint32_t timeout = 10);
 
 
 #if 0 //TODO
@@ -464,10 +464,10 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
     bool writeForRangeDependencyFunc(uint8_t func_idx, uint8_t id, float value, uint8_t unit);
 
     int32_t readControlTableItem(uint16_t model_num,
-      uint8_t item_idx, uint8_t id, uint32_t timeout = 100);
+      uint8_t item_idx, uint8_t id, uint32_t timeout = 10);
     
     bool writeControlTableItem(uint16_t model_num, 
-      uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout = 100);  
+      uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout = 10);  
 };
 
 
diff --git a/src/dxl_c/protocol.cpp b/src/dxl_c/protocol.cpp
index 51804e0..b0c9a31 100644
--- a/src/dxl_c/protocol.cpp
+++ b/src/dxl_c/protocol.cpp
@@ -332,6 +332,10 @@ static DXLLibErrorCode_t end_make_dxl2_0_packet(InfoToMakeDXLPacket_t* p_make_pa
 DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, 
   uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_capacity)
 {
+  if(p_parse_packet == NULL){
+    return DXL_LIB_ERROR_NULLPTR;
+  }
+
   if(param_buf_capacity > 0 && p_param_buf == NULL){
     return DXL_LIB_ERROR_NULLPTR;
   }
@@ -340,11 +344,10 @@ DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet,
     return DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;
   }
 
+  memset(p_parse_packet, 0, sizeof(InfoToParseDXLPacket_t));
   p_parse_packet->protocol_ver = protocol_ver;
   p_parse_packet->p_param_buf = p_param_buf;
   p_parse_packet->param_buf_capacity = param_buf_capacity;
-  // p_parse_packet->recv_param_len = 0;
-  // p_parse_packet->parse_state = 0;
   p_parse_packet->is_init = true;
 
   return DXL_LIB_OK;
@@ -352,9 +355,13 @@ DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet,
 
 DXLLibErrorCode_t fast_begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t protocol_ver)
 {
+  if (p_parse_packet == NULL)
+    return DXL_LIB_ERROR_NULLPTR;
+
   if (protocol_ver != 2)
     return DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;
 
+  memset(p_parse_packet, 0, sizeof(InfoToParseDXLPacket_t));
   p_parse_packet->protocol_ver = protocol_ver;
   p_parse_packet->p_param_buf = nullptr;
   p_parse_packet->param_buf_capacity = 0;
diff --git a/src/dxl_c/protocol.h b/src/dxl_c/protocol.h
index 6a99801..e5721f8 100644
--- a/src/dxl_c/protocol.h
+++ b/src/dxl_c/protocol.h
@@ -19,6 +19,7 @@
 #include <stdint.h>
 #include <stddef.h>
 #include <stdbool.h>
+#include <cstring>
 
 const int DXL_BROADCAST_ID = 0xFE;