diff --git a/dynamixel_workbench_toolbox/examples/src/b_Ping.cpp b/dynamixel_workbench_toolbox/examples/src/b_Ping.cpp
index 3419ed7..cae3d2e 100644
--- a/dynamixel_workbench_toolbox/examples/src/b_Ping.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/b_Ping.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -67,4 +68,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp b/dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp
index 9bccf42..780d003 100644
--- a/dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/c_ID_Change.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   uint16_t model_number = 0;
   result = dxl_wb.ping(dxl_id, &model_number, &log);
@@ -98,4 +99,4 @@ int main(int argc, char *argv[])
     for (int cnt = 0; cnt < dxl_cnt; cnt++)
       printf("id : %d, model name : %s\n", scanned_id[cnt], dxl_wb.getModelName(scanned_id[cnt]));
   }
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp b/dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp
index 46a91eb..b117319 100644
--- a/dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/d_BPS_Change.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int dxl_id = 1;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   uint16_t model_number = 0;
   result = dxl_wb.ping(dxl_id, &model_number, &log);
@@ -81,4 +82,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp b/dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp
index ea12c4b..b66c95b 100644
--- a/dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/e_Mode_Change.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -53,7 +54,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeeded to init(%d)\n", baud_rate);  
+    printf("Succeeded to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
diff --git a/dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp b/dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp
index 6521b17..19dc564 100644
--- a/dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/f_Reboot.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -78,4 +79,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/g_Reset.cpp b/dynamixel_workbench_toolbox/examples/src/g_Reset.cpp
index 26c2258..d95edb0 100644
--- a/dynamixel_workbench_toolbox/examples/src/g_Reset.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/g_Reset.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -78,4 +79,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/h_Position.cpp b/dynamixel_workbench_toolbox/examples/src/h_Position.cpp
index b47a9f4..a6d8a38 100644
--- a/dynamixel_workbench_toolbox/examples/src/h_Position.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/h_Position.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -88,4 +89,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp b/dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp
index 25cb945..62c002a 100644
--- a/dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/i_Velocity.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -90,4 +91,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp b/dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp
index f078385..9eac8d5 100644
--- a/dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/j_Current_Based_Position.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -88,4 +89,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp b/dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp
index ad6045d..4990e8f 100644
--- a/dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/k_Read_Write.cpp
@@ -17,8 +17,9 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -52,7 +53,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   result = dxl_wb.ping(dxl_id, &model_number, &log);
   if (result == false)
@@ -90,4 +91,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp b/dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp
index fe5b381..e6300f9 100644
--- a/dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/l_Sync_Write.cpp
@@ -17,10 +17,11 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
 void swap(int32_t *array);
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -55,7 +56,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   for (int cnt = 0; cnt < 2; cnt++)
   {
@@ -93,7 +94,7 @@ int main(int argc, char *argv[])
   int32_t goal_position[2] = {0, 1023};
 
   const uint8_t handler_index = 0;
-  
+
   while(1)
   {
     result = dxl_wb.syncWrite(handler_index, &goal_position[0], &log);
@@ -116,4 +117,4 @@ void swap(int32_t *array)
   int32_t tmp = array[0];
   array[0] = array[1];
   array[1] = tmp;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp b/dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp
index 7c24729..df3045b 100644
--- a/dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/m_Sync_Read_Write.cpp
@@ -17,10 +17,11 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
 void swap(int32_t *array);
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -55,7 +56,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   for (int cnt = 0; cnt < 2; cnt++)
   {
@@ -69,6 +70,7 @@ int main(int argc, char *argv[])
     {
       printf("Succeeded to ping\n");
       printf("id : %d, model_number : %d\n", dxl_id[cnt], model_number);
+      printf("model_name : %s\n", dxl_wb.getModelName(dxl_id[cnt]));
     }
 
     result = dxl_wb.jointMode(dxl_id[cnt], 0, 0, &log);
@@ -101,7 +103,10 @@ int main(int argc, char *argv[])
   int32_t present_position[2] = {0, 0};
 
   const uint8_t handler_index = 0;
-  
+
+  const char* modelName1 = dxl_wb.getModelName(dxl_id[0]);
+  const char* modelName2 = dxl_wb.getModelName(dxl_id[1]);
+
   while(1)
   {
     result = dxl_wb.syncWrite(handler_index, &goal_position[0], &log);
@@ -124,6 +129,12 @@ int main(int argc, char *argv[])
       if (result == false)
       {
         printf("%s\n", log);
+        if(!strncmp(modelName1, "AX-12", strlen("AX-12")) ||
+         !strncmp(modelName2, "AX-12", strlen("AX-12")))
+        {
+          printf("AX-12 does NOT support syncRead \n");
+          return -1;
+        }
       }
       else
       {
@@ -131,7 +142,7 @@ int main(int argc, char *argv[])
                 ,dxl_id[0], goal_position[0], present_position[0], dxl_id[1], goal_position[1], present_position[1]);
       }
 
-    }while(abs(goal_position[0] - present_position[0]) > 15 && 
+    }while(abs(goal_position[0] - present_position[0]) > 15 &&
           abs(goal_position[1] - present_position[1]) > 15);
 
     swap(goal_position);
@@ -145,4 +156,4 @@ void swap(int32_t *array)
   int32_t tmp = array[0];
   array[0] = array[1];
   array[1] = tmp;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/n_Bulk_Read_Write.cpp b/dynamixel_workbench_toolbox/examples/src/n_Bulk_Read_Write.cpp
index 6fc2e07..ee10783 100644
--- a/dynamixel_workbench_toolbox/examples/src/n_Bulk_Read_Write.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/n_Bulk_Read_Write.cpp
@@ -17,10 +17,11 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
 void swap(int32_t *array);
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
   int baud_rate = 57600;
@@ -55,7 +56,7 @@ int main(int argc, char *argv[])
     return 0;
   }
   else
-    printf("Succeed to init(%d)\n", baud_rate);  
+    printf("Succeed to init(%d)\n", baud_rate);
 
   for (int cnt = 0; cnt < 2; cnt++)
   {
@@ -197,4 +198,4 @@ void swap(int32_t *array)
   int32_t tmp = array[0];
   array[0] = array[1];
   array[1] = tmp;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/o_Find_Dynamixel.cpp b/dynamixel_workbench_toolbox/examples/src/o_Find_Dynamixel.cpp
index 5615952..69ccfa4 100644
--- a/dynamixel_workbench_toolbox/examples/src/o_Find_Dynamixel.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/o_Find_Dynamixel.cpp
@@ -17,10 +17,11 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 
 #define BAUDRATE_NUM 7
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
 
@@ -56,7 +57,7 @@ int main(int argc, char *argv[])
       printf("Failed to init\n");
     }
     else
-      printf("Succeed to init(%d)\n", baudrate[index]);  
+      printf("Succeed to init(%d)\n", baudrate[index]);
 
     dxl_cnt = 0;
     for (uint8_t num = 0; num < 100; num++) scanned_id[num] = 0;
@@ -80,4 +81,4 @@ int main(int argc, char *argv[])
   }
 
   return 0;
-}
\ No newline at end of file
+}
diff --git a/dynamixel_workbench_toolbox/examples/src/p_Monitor.cpp b/dynamixel_workbench_toolbox/examples/src/p_Monitor.cpp
index 05b2082..1bf36f0 100644
--- a/dynamixel_workbench_toolbox/examples/src/p_Monitor.cpp
+++ b/dynamixel_workbench_toolbox/examples/src/p_Monitor.cpp
@@ -17,6 +17,7 @@
 /* Authors: Taehun Lim (Darby) */
 
 #include <DynamixelWorkbench.h>
+#include <cstdlib>
 #include <fcntl.h>          // FILE control
 #include <termios.h>        // Terminal IO
 #include <iostream>
@@ -39,7 +40,7 @@ bool monitoring(const char* port_name);
 
 DynamixelWorkbench dxl_wb;
 
-int main(int argc, char *argv[]) 
+int main(int argc, char *argv[])
 {
   const char* port_name = "/dev/ttyUSB0";
 
@@ -109,7 +110,7 @@ bool monitoring(const char* port_name)
       else if (strcmp(cmd, "begin") == 0)
       {
         uint32_t baud = 57600;
-        
+
         baud = atoi(param[0]);
         wb_result = dxl_wb.init(port_name, baud, &log);
         if (wb_result == false)
@@ -118,16 +119,16 @@ bool monitoring(const char* port_name)
           printf("Failed to init\n");
         }
         else
-          printf("Succeed to init(%d)\n", baud);          
+          printf("Succeed to init(%d)\n", baud);
       }
       else if (strcmp(cmd, "end") == 0)
-      {        
+      {
         exit(0);
       }
       else if (strcmp(cmd, "scan") == 0)
       {
         uint8_t range = 253;  // default
-        
+
         range = atoi(param[0]);
         wb_result = dxl_wb.scan(get_id, &scan_cnt, range, &log);
         if (wb_result == false)
@@ -146,7 +147,7 @@ bool monitoring(const char* port_name)
       else if (strcmp(cmd, "ping") == 0)
       {
         get_id[ping_cnt] = 1; // default to 1
-        
+
         get_id[ping_cnt] = atoi(param[0]);
 
         uint16_t model_number = 0;
@@ -219,7 +220,7 @@ bool monitoring(const char* port_name)
                     default:
                       data = getAllRegisteredData[control_item[index].address];
                     break;
-                  } 
+                  }
                 }
               }
             }
@@ -353,7 +354,7 @@ bool monitoring(const char* port_name)
             uint8_t id_1 = atoi(param[0]);
             uint8_t id_2 = atoi(param[1]);
             uint8_t id[2] = {id_1, id_2};
-            uint8_t id_num = 2;    
+            uint8_t id_num = 2;
 
             int32_t data[2] = {0, 0};
             data[0] = atoi(param[3]);
@@ -543,7 +544,7 @@ bool monitoring(const char* port_name)
           uint8_t id = atoi(param[0]);
 
           int32_t data = 0;
-          
+
           wb_result = dxl_wb.readRegister(id, param[1], &data, &log);
           if (wb_result == false)
           {