diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 5d5d2dc..59cdd57 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -196,6 +196,8 @@ class RobotTCP(TcpDevice, Stoppable):
             self._update_working_mode(mode, status)
         except:
             self.working_mode = "invalid"
+            self.status = "invalid"
+        self._update_state()    
         return self.working_mode
 
     def get_emergency_stop_sts(self):
@@ -222,10 +224,12 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def is_empty(self):
         self.empty = self.eval_bool("isEmpty()")
+        self._update_state()    
         return self.empty
 
     def is_settled(self):
         self.settled = self.eval_bool("isSettled()")
+        self._update_state()    
         return self.powered
         
     def get_move_id(self):
@@ -287,9 +291,13 @@ class RobotTCP(TcpDevice, Stoppable):
     
     #Task control
     def task_create(self, program, *args,  **kwargs):        
+        program = str(program)
         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"]                
+        name = str(program if (kwargs is None) or (not kwargs.has_key("name")) else kwargs["name"])                
         
+        if self.get_task_status(name)[0] != -1:
+            raise Exception("Task already exists: " + name)
+
         #taskCreate "t1", 10, read(sMessage)
         cmd = 'taskCreate "' + name + '", ' + str(priority) + ', ' + program + '('
         for i in range(len(args)):            
@@ -318,6 +326,12 @@ class RobotTCP(TcpDevice, Stoppable):
         else: status = self.execute('get_help', code)        
         return (code,status)
 
+    def _update_state(self):
+        #self.setState(State.Busy if self.status=="move" else State.Ready)
+        if not self.settled: self.setState(State.Busy)
+        if not self.empty: self.setState(State.Paused)
+        else self.setState(State.Ready)                
+
     def doUpdate(self):
         try:
             start = time.time()
@@ -331,7 +345,8 @@ class RobotTCP(TcpDevice, Stoppable):
             ev = sts[6] if len(sts)>6 else ""            
             if len(ev.strip()) >0:
                 self.getLogger().info(ev)
-                self.on_event(ev)            
+                self.on_event(ev)        
+            self._update_state()    
             #print time.time() - start                        
         except:
             print >> sys.stderr, "Update error: " + str(sys.exc_info()[1])