Let's Make Robots!

Bioloid CM-5 programming

Has anyone here ever interfaced with a CM-5 via a serial connection?  I'm going to be borrowing a CM-5 and want to use it to control some AX-12 servos.

My plan is to piggyback off of some Java programs I've written to interface with Arduino.

I guess my question is, other than opening a serial connection and reading/writing the correct protocol, are there any gotchas I should know about before I spend a few hours debugging something simple (we've all been there, amiright?)