For future reference, and my own convinience, I'm posting all the links that are nice to have available when trying to make a StartHere-bot with a SRF05 quickly.
Start here (the test program should be servo 0,150 <enter> pause 500 <enter>)
Start here 2
Picaxe 28x1 guide
connecting the SRF05
USB Picaxe cable installation