diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index b810a96..5204a46 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -193,7 +193,7 @@ class RobotTCP(TcpDevice, Stoppable):
         return "off"
 
     def get_safety_fault_signal(self):
-        fault = eval_bool("safetyFault(s)")
+        fault = self.eval_bool("safetyFault(s)")
         if (fault):
             return get_str("")            
         
@@ -248,17 +248,17 @@ class RobotTCP(TcpDevice, Stoppable):
     def compose(self, pnt, frame):    
         return self.eval_pnt("compose(" + pnt + ", " + frame + ")")
 
-    def herej(self, tool, frame):
+    def here(self, tool, frame):
         return self.eval_pnt("here(" + tool + ", " + frame + ")")
 
     def joint_to_point(self, tool, frame, joint):
         return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")")
 
     def point_to_joint(self, tool, initial_joint, point):
-        if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)")
+        if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)"):
             return get_jnt()
 
-    def position(self, point, frame)
+    def position(self, point, frame):
         return self.eval_trf("position(" + point + ", " + frame + ")")
 
     #Updating
@@ -300,5 +300,3 @@ class RobotTCP(TcpDevice, Stoppable):
 add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)   
 robot_tcp.setPolling(500)
 #robot_tcp.set_monitor_speed(20)
-print robot_tcp.get_joint_forces()
-print robot_tcp.herej()
\ No newline at end of file