diff --git a/script/devices/RobotSC.py b/script/devices/RobotSC.py
index 2dee391..8edd495 100644
--- a/script/devices/RobotSC.py
+++ b/script/devices/RobotSC.py
@@ -25,7 +25,7 @@ class RobotSC(RobotTCP):
         RobotTCP.__init__(self, name, server, timeout, retries)   
         self.set_tasks(["getDewar", "putDewar", "putGonio", "getGonio", "robotRecover", "moveDewar", "movePark"])
         self.setPolling(DEFAULT_ROBOT_POLLING)      
-        self.known_points = ["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait"]
+        self.known_points = ["pHome", "pPark", "pDewarHome", "pGonioHome", "pDewarWait", "pGonioGet", "pScanHome", "pHeaterHome"]
         
     def get_dewar(self, segment, puck, sample):
         segment = self.toSegmentNumber(segment)
@@ -145,6 +145,7 @@ class RobotSC(RobotTCP):
             if ret[i] == True:
                 return self.known_points[i]
         return None
+
         
 
 if simulation:
diff --git a/script/devices/RobotTCP.py b/script/devices/RobotTCP.py
index bfab1f6..11807ca 100644
--- a/script/devices/RobotTCP.py
+++ b/script/devices/RobotTCP.py
@@ -484,19 +484,20 @@ class RobotTCP(TcpDevice, Stoppable):
     def doUpdate(self):        
         try:
             start = time.time()
-            sts = self.execute("get_status", self.current_task)
+            cur_task = self.current_task #Can change in background so cache it
+            sts = self.execute("get_status", cur_task)
             self._update_working_mode(int(sts[0]), int(sts[1]))
             self.powered = sts[2] == "1"
             self.speed = int(sts[3])
             self.empty = sts[4] == "1"
-            self.settled = sts[5] == "1"                                    
-            if int(sts[6]) < 0:         
-                if self.current_task is not None:     
-                    log("Task "+ str(self.current_task) + " finished with code: " + str(sts[7]), False)
-                try:
-                    self.current_task, self.current_task_ret = None, int(sts[7])
-                except:
-                    self.current_task, self.current_task_ret = None, None
+            self.settled = sts[5] == "1"
+            if cur_task is not None:                                    
+                if int(sts[6]) < 0:         
+                    log("Task "+ str(cur_task) + " finished with code: " + str(sts[7]), False)
+                    try:
+                        self.current_task, self.current_task_ret = None, int(sts[7])
+                    except:
+                        self.current_task, self.current_task_ret = None, None
             for i in range(6):
                 self.joint_pos[i] = float(sts[8 + i])
             for i in range(6):
@@ -514,7 +515,7 @@ class RobotTCP(TcpDevice, Stoppable):
                            "speed": self.speed,
                            "empty": self.empty,
                            "settled": self.settled,
-                           "task": self.current_task,
+                           "task": cur_task,
                            "mode": self.working_mode,
                            "status": self.status
                            }, None)
@@ -651,12 +652,13 @@ class RobotTCP(TcpDevice, Stoppable):
             self.task_create(program, *args, **kwargs)                                    
             (code, status) = self.get_task_status(program)                                           
             if code>=0: break
-            if i < retries-1:
-                ret = self.get_task_ret()
+            if i < self.task_start_retries-1:
+                ret = self.get_task_ret(False)
                 if ret == 0: #Did't start
                     log("Retrying starting : " + str(program) + " - status: " + str(status) + " (" + str(code) + ")", False)        
                     print "Retrying starting : " + str(program) + " - status: " + str(status) + " (" + str(code) + ")"                
                 else :
+                    print "Retrying aborted : " + str(program) + " - ret: " + str(ret) + " - status: " + str(status) + " (" + str(code) + ")"                
                     break
             else:
                 log("Failed starting : " + str(program), False)       
@@ -668,6 +670,12 @@ class RobotTCP(TcpDevice, Stoppable):
         self.current_task, self.current_task_ret  = program, None
         self.update()               
         #self._update_state()
+
+        #TODO: remove
+        if self.current_task is None:
+                log("Task finished in first polling : " + str(program) , False)        
+                print "Task finished in first polling : " + str(program) 
+                
         return code
         
     def stop_task(self):
@@ -679,9 +687,8 @@ class RobotTCP(TcpDevice, Stoppable):
                 self.task_kill(task)                
 
 
-    def get_task_ret(self):
-        #return self.eval_int("tcp_ret")
-        return self.current_task_ret
+    def get_task_ret(self, cached = True):
+        return self.current_task_ret if cached else self.eval_int("tcp_ret")        
 
     def clear_task_ret(self):
         return self.evaluate("tcp_ret=0")