diff --git a/ergoCubSN001/hardware/POS/left_hand-pos2.xml b/ergoCubSN001/hardware/POS/left_hand-pos2.xml
index 288259f4c..b4799ef1f 100644
--- a/ergoCubSN001/hardware/POS/left_hand-pos2.xml
+++ b/ergoCubSN001/hardware/POS/left_hand-pos2.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/POS/left_hand-pos4.xml b/ergoCubSN001/hardware/POS/left_hand-pos4.xml
index 4da127f0c..75e06c541 100644
--- a/ergoCubSN001/hardware/POS/left_hand-pos4.xml
+++ b/ergoCubSN001/hardware/POS/left_hand-pos4.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/POS/right_hand-pos2.xml b/ergoCubSN001/hardware/POS/right_hand-pos2.xml
index 96ec3698a..fe5c7eeda 100644
--- a/ergoCubSN001/hardware/POS/right_hand-pos2.xml
+++ b/ergoCubSN001/hardware/POS/right_hand-pos2.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/POS/right_hand-pos4.xml b/ergoCubSN001/hardware/POS/right_hand-pos4.xml
index aab05a0fe..22c5c5893 100644
--- a/ergoCubSN001/hardware/POS/right_hand-pos4.xml
+++ b/ergoCubSN001/hardware/POS/right_hand-pos4.xml
@@ -19,8 +19,8 @@
                     <param name="minor">            0                       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                       </param>
-                    <param name="minor">            2                       </param>
+                    <param name="major">            0                       </param>
+                    <param name="minor">            0                       </param>
                     <param name="build">            0                       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml
index c85ccb615..7833c8ec0 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb23-j7_10-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
index 3dc0a6e1f..83c75a579 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb25-j11_12-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml b/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
index a62d0e7b3..5f6ee091e 100644
--- a/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/left_arm-eb31-j4_6-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0           0       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2           0       </param>
-                    <param name="minor">            1           0       </param>
+                    <param name="major">            0           0       </param>
+                    <param name="minor">            0           0       </param>
                     <param name="build">            0           0       </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml
index 924f2d913..508f40127 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb22-j7_10-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml
index fd408aa48..0413ae4a8 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb24-j11_12-mc_service.xml
@@ -20,8 +20,8 @@
                     <param name="minor">            0                   </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2                   </param>
-                    <param name="minor">            2                   </param>
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
                     <param name="build">            0                   </param>
                 </group>
             </group>
diff --git a/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml b/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
index ab9464ee0..5f6ee091e 100644
--- a/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
+++ b/ergoCubSN001/hardware/motorControl/right_arm-eb30-j4_6-mc_service.xml
@@ -20,9 +20,9 @@
                     <param name="minor">            0           0       </param>
                 </group>
                 <group name="FIRMWARE">
-                    <param name="major">            2           0       </param>
-                    <param name="minor">            1           0       </param>
-                    <param name="build">            0           0      </param>
+                    <param name="major">            0           0       </param>
+                    <param name="minor">            0           0       </param>
+                    <param name="build">            0           0       </param>
                 </group>
             </group>