diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 001a15b..57f8a76 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -261,12 +261,12 @@ class RobotTCP(TcpDevice, Stoppable):
     #Tool
     #This function can timeout since it synchronizes move. 
     #Better check state before otherwise it can freeze the communication
-    def open(self, tool):
+    def open_tool(self, tool):
         return self.evaluate("open(" + tool + " )", timeout=3000)
 
     #This function can timeout since it synchronizes move. Better check state before
     #Better check state before otherwise it can freeze the communication
-    def close(self, tool):
+    def close_tool(self, tool):
         return self.evaluate("close(" + tool + " )", timeout=3000)
 
     #Arm position
@@ -334,6 +334,8 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def _update_state(self):
         #self.setState(State.Busy if self.status=="move" else State.Ready)
+        if self.state==State.Offline:
+            print "Communication resumed"
         if not self.settled: self.setState(State.Busy)
         if not self.empty: self.setState(State.Paused)
         else: self.setState(State.Ready)                
@@ -355,7 +357,8 @@ class RobotTCP(TcpDevice, Stoppable):
             self._update_state()    
             #print time.time() - start                        
         except:
-            print >> sys.stderr, "Update error: " + str(sys.exc_info()[1])
+            if self.state != State.Offline:
+                print >> sys.stderr, "Update error: " + str(sys.exc_info()[1])
             self.setState(State.Offline)