diff --git a/scripts/control_marker.py b/scripts/control_marker.py
index 77a03a3..6257b5d 100644
--- a/scripts/control_marker.py
+++ b/scripts/control_marker.py
@@ -173,6 +173,9 @@ def listener():
     menu_handler.insert('First Entry', callback=processFeedback)
     menu_handler.insert('Second Entry', callback=processFeedback)
 
+    if not coords:
+        coords = [0,0,0,0,0,0]
+        rospy.loginfo('error [101]: can not get coord values')	
     # initial position
     position = Point(coords[1] / -1000, coords[0] / 1000, coords[2] / 1000)
     # orientation = Quaternion(coords[4] / 100, coords[3] / 100, coords[5] / 100, 1)
diff --git a/scripts/pythonAPI/mycobot.py b/scripts/pythonAPI/mycobot.py
index 367ed71..9ee7a7a 100644
--- a/scripts/pythonAPI/mycobot.py
+++ b/scripts/pythonAPI/mycobot.py
@@ -50,6 +50,9 @@ class MyCobot():
     def power_off(self):
         self._write('fe fe 02 11 fa')
 
+    def set_free_mode(self):
+        self._write('fefe0213fa')
+
     def get_angles(self):
         '''Get all angle return a list
 
diff --git a/scripts/test.py b/scripts/test.py
index 2860838..d4e38bf 100644
--- a/scripts/test.py
+++ b/scripts/test.py
@@ -4,4 +4,5 @@ from pythonAPI.mycobot import MyCobot
 if __name__ == '__main__':
     mycobot = MyCobot()
     mycobot.set_color("ff0000")
+    print(mycobot.get_angles_of_radian())