diff --git a/libraries/YarpPlugins/Jr3Mbed/Jr3Mbed.cpp b/libraries/YarpPlugins/Jr3Mbed/Jr3Mbed.cpp
index 0a6556c79..3daad308e 100644
--- a/libraries/YarpPlugins/Jr3Mbed/Jr3Mbed.cpp
+++ b/libraries/YarpPlugins/Jr3Mbed/Jr3Mbed.cpp
@@ -5,6 +5,8 @@
 #include <cstdint>
 #include <cstring> // std::memcpy
 
+#include <yarp/conf/version.h>
+
 #include <yarp/os/LogStream.h>
 
 #include "LogComponent.hpp"
@@ -15,17 +17,29 @@ using namespace roboticslab;
 
 bool Jr3Mbed::performRequest(const std::string & cmd, const can_message & msg, std::uint8_t * response, bool quiet)
 {
+#if YARP_VERSION_COMPARE(>=, 3, 9, 0)
+    yCIInfo(quiet ? JR3M_QUIET : JR3M, id()) << "Sending" << cmd << "command";
+#else
     yCIInfo((quiet ? JR3M_QUIET : JR3M), id()) << "Sending" << cmd << "command";
+#endif
 
     if (!sender || !sender->prepareMessage(msg))
     {
+#if YARP_VERSION_COMPARE(>=, 3, 9, 0)
+        yCIWarning(quiet ? JR3M_QUIET : JR3M, id()) << "Unable to register" << cmd << "command";
+#else
         yCIWarning((quiet ? JR3M_QUIET : JR3M), id()) << "Unable to register" << cmd << "command";
+#endif
         return false;
     }
 
     if (!ackStateObserver->await(response))
     {
+#if YARP_VERSION_COMPARE(>=, 3, 9, 0)
+        yCIWarning(quiet ? JR3M_QUIET : JR3M, id()) << "Command" << cmd << "timed out";
+#else
         yCIWarning((quiet ? JR3M_QUIET : JR3M), id()) << "Command" << cmd << "timed out";
+#endif
         return false;
     }