diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml.bak b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml.bak
deleted file mode 100644
index 607796df1f..0000000000
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml.bak
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" ?>
-<!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
-
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="setup" build="1">
-
-    <xi:include href="./pc104.xml" />
-
-    <group name="ETH_BOARD">
-
-        <group name="ETH_BOARD_PROPERTIES">
-            <param name="IpAddress">                10.0.1.1                </param>
-            <param name="IpPort">                   12345                   </param>
-            <param name="Type">                     amc                    </param>
-            <param name="maxSizeRXpacket">          768                     </param>
-            <param name="maxSizeROP">               400                     </param>
-        </group>
-
-        <group name="ETH_BOARD_SETTINGS">
-            <param name="Name">                     "setup-eb2-j0_2"        </param>
-            <group name="RUNNINGMODE">
-                <param name="period">                   1000                </param>
-                <param name="maxTimeOfRXactivity">      400                 </param>
-                <param name="maxTimeOfDOactivity">      300                 </param>
-                <param name="maxTimeOfTXactivity">      300                 </param>
-                <param name="TXrateOfRegularROPs">      5                   </param>
-            </group>
-        </group>
-
-        <group name="ETH_BOARD_ACTIONS">
-            <group name="MONITOR_ITS_PRESENCE">
-                <param name="enabled">                  true                </param>
-                <param name="timeout">                  0.020               </param>
-                <param name="periodOfMissingReport">    60.0                </param>
-            </group>
-        </group>
-
-    </group>
-
-</params>
-
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
index 98d50be568..fa60986608 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
@@ -11,8 +11,8 @@
         <param name="Encoder">          182.044         </param>
         <param name="fullscalePWM">     32000           </param>
         <param name="ampsToSensor">     1000.0          </param>
-        <param name="Gearbox_M2J">     -384.44          </param>
-        <param name="Gearbox_E2J">      1.778           </param>
+        <param name="Gearbox_M2J">     -196          </param>
+        <param name="Gearbox_E2J">      1           </param>
         <param name="useMotorSpeedFbk"> 0               </param>
         <param name="MotorType">        "BLL_MOOG"      </param>
         <param name="Verbose">          0               </param>
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
index a14efebb6c..47c99874f4 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
@@ -113,7 +113,7 @@
             <group name="JOINTMAPPING">
 
                 <group name="ACTUATOR">
-                    <param name="type">             advfoc     </param>
+                    <param name="type">             advfoc              </param>
                     <param name="onboard">          amc2c               </param>
                     <param name="port">             ICC1:3              </param>
                 </group>