diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 2289015..fd9de8b 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -19,14 +19,14 @@ class RobotTCP(TcpDevice, Stoppable):
          self.status = None
          self.lock = threading.Lock()
          
-    def _sendReceive(self, msg_id, msg = "", timeout =  None, retries = None):  
+    def _sendReceive(self, msg_id, msg = "", timeout =  None):  
         tx = self.header if (self.header != None) else  ""
         tx = tx + msg_id + " " + msg        
         if (len(tx)>127):
             raise Exception("Exceeded maximum message size")
         self.getLogger().finer("TX = '" +  str(tx)+ "'")
         if (self.trailer != None): tx = tx + self.trailer
-        rx = self.sendReceive(tx, msg_id, self.trailer , 0,  self.timeout, self.retries)
+        rx = self.sendReceive(tx, msg_id, self.trailer , 0,  self.timeout if timeout is None  else timeout, self.retries)
         rx=rx[:-1] #Remove 0A
         self.getLogger().finer("RX = '" + str(rx) + "'")
         if rx[:3] != msg_id:                            
@@ -38,18 +38,19 @@ class RobotTCP(TcpDevice, Stoppable):
             raise Exception(rx[4:])
         return rx[4:]
     
-    def call(self, msg, timeout =  None, retries = None):                
+    def call(self, msg, timeout =  None):                
         id = "%03d" % self.msg_id
         self.msg_id = (self.msg_id+1)%1000        
-        return self._sendReceive(id, msg, timeout, retries)        
+        return self._sendReceive(id, msg, timeout)        
     
-    def execute(self, command, *argv):        
+    def execute(self, command, *args, **kwargs):        
+        timeout = None if (kwargs is None) or (not kwargs.has_key("timeout")) else kwargs["timeout"]                
         msg = str(command)
-        if len(argv)>10:
+        if len(args)>10:
             raise Exception("Exceeded maximum number of parameters")
-        for i in range(len(argv)):            
-            msg += (self.cmd_separator if  (i==0) else self.array_separator) + str(argv[i])                 
-        rx = self.call(msg)
+        for i in range(len(args)):            
+            msg += (self.cmd_separator if  (i==0) else self.array_separator) + str(args[i])                 
+        rx = self.call(msg, timeout)
         if rx.count(self.array_separator)>0:
             return rx.split(self.array_separator)
         return rx
@@ -59,8 +60,8 @@ class RobotTCP(TcpDevice, Stoppable):
         if ev.strip() == "": return None
         return ev
 
-    def evaluate(self, cmd, timeout =  timeout, retries = retries):
-        ret = self.execute('eval', cmd, timeout, retries)
+    def evaluate(self, cmd, timeout=None):
+        ret = self.execute('eval', cmd, timeout=timeout)
         if ret.strip() != "": raise Exception(ret)
 
     def get_var(self, name):
@@ -233,15 +234,18 @@ class RobotTCP(TcpDevice, Stoppable):
     def get_joint_forces(self):
         robot_tcp.evaluate("getJointForce(arr)")        
         return robot_tcp.get_float_arr(6)
+        
 
     #Tool
-    #This function can timeout since it synchronizes move. Better check state before
+    #This function can timeout since it synchronizes move. 
+    #Better check state before otherwise it can freeze the communication
     def open(self, tool):
-        return self.evaluate("open(" + 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):
-        return self.evaluate("close(" + tool + " )")
+        return self.evaluate("close(" + tool + " )", timeout=3000)
 
     #Arm position
     def herej(self):
@@ -268,6 +272,34 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def position(self, point, frame):
         return self.eval_trf("position(" + point + ", " + frame + ")")
+    #Task control
+
+    def task_create(self, program, *args,  **kwargs):        
+        priority = 10 if (kwargs is None) or (not kwargs.has_key("priority")) else kwargs["priority"]                
+        name = program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"]                
+        
+        taskCreate "t1", 10, read(sMessage)
+        cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
+        for i in range(len(args)):            
+            cmd += str(args[i]) + (',' if  (i<(len(args)-1)) else '')
+        cmd+=')'
+        self.evaluate("cmd")
+        
+    def task_suspend(self, name):
+        self.evaluate("taskSuspend(" + str(name)+ ")")
+
+    #waits until the task is ready for restart
+    def task_resume(self, name):
+        self.evaluate("taskResume(" + str(name)+ ",0)", timeout = 2000)
+
+    #waits for the task to be actually killed
+    def task_kill(self, name):
+        self.evaluate("taskKill(" + str(name)+ ")", timeout = 2000)
+
+    def get_task_status(self, name):
+        code = self.eval_int("taskStatus(" + str(name)+ ")")
+        status = self.eval_str("help(" + str(code)+ ")")
+        return [code, status]
 
     #Updating
     def update_status(self):