diff --git a/libraries/TeoYarp/CartesianControlClient/ICartesianControlImpl.cpp b/libraries/TeoYarp/CartesianControlClient/ICartesianControlImpl.cpp
index 35d22a045..6a1bb2e32 100644
--- a/libraries/TeoYarp/CartesianControlClient/ICartesianControlImpl.cpp
+++ b/libraries/TeoYarp/CartesianControlClient/ICartesianControlImpl.cpp
@@ -226,7 +226,7 @@ bool roboticslab::CartesianControlClient::act(int command)
     yarp::os::Bottle cmd, response;
 
     cmd.addVocab(VOCAB_CC_ACT);
-    cmd.addInt(command);
+    cmd.addVocab(command);
 
     rpcClient.write(cmd,response);
 
diff --git a/libraries/TeoYarp/CartesianControlServer/RpcResponder.cpp b/libraries/TeoYarp/CartesianControlServer/RpcResponder.cpp
index cd4e93aba..f5a60d393 100644
--- a/libraries/TeoYarp/CartesianControlServer/RpcResponder.cpp
+++ b/libraries/TeoYarp/CartesianControlServer/RpcResponder.cpp
@@ -94,7 +94,7 @@ bool roboticslab::RpcResponder::handleActMsg(const yarp::os::Bottle& in, yarp::o
 {
     if (in.size() > 1)
     {
-        int commandCode = in.get(1).asInt();
+        int commandCode = in.get(1).asVocab();
 
         if (iCartesianControl->act(commandCode))
         {