We found some issues using HaViMo2.0 and the recently released CM530 from ROBOTIS. The current firmware (version 1.1969) has a noticeably long latency in switching between TX and RX on the Dynamixel bus. So a response packet from HaViMo gets corrupt.
We prepared an alternative firmware for calibration mode you can download the CM530 Firmware for HaViMo Calibration here.
for installation guide refer to the following link: http://support.robotis.com/en/software/embeded_c/cm530/programming/bootloader/program_install_cm530.htm
Your HaViMo team.