diff --git a/config/config.properties b/config/config.properties
index 55413bb..35b08b2 100644
--- a/config/config.properties
+++ b/config/config.properties
@@ -1,4 +1,4 @@
-#Wed Feb 22 10:47:40 CET 2017
+#Wed Feb 22 14:10:46 CET 2017
 autoSaveScanData=true
 createSessionFiles=false
 dataLayout=default
@@ -24,5 +24,5 @@ userAuthenticator=
 userManagement=false
 versionTrackingEnabled=true
 versionTrackingLogin={context}/svcusr-hlapp_robot
-versionTrackingManual=true
+versionTrackingManual=false
 versionTrackingRemote=git@git.psi.ch\:pshell_config/mxsc.git
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
index b59ee63..d4e1748 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/ForceDetection.dtx
@@ -83,5 +83,8 @@
       <Value key="0" link="Socket\sSIO" />
     </Data>
     <Data name="events" access="private" xsi:type="array" type="string" size="10" />
+    <Data name="n" access="private" xsi:type="array" type="num" size="1" />
+    <Data name="arr" access="private" xsi:type="array" type="num" size="10" />
+    <Data name="b" access="private" xsi:type="array" type="bool" size="1" />
   </Datas>
 </Database>
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
index 8aab98e..4dce337 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
@@ -14,11 +14,13 @@
       <Local name="arg" type="num" xsi:type="array" size="1" />
       <Local name="ex" type="string" xsi:type="array" size="1" />
       <Local name="array_separator" type="string" xsi:type="array" size="1" />
+      <Local name="last_id" type="string" xsi:type="array" size="1" />
     </Locals>
     <Code><![CDATA[begin        
-    rx=""
-    sioCtrl(sSio,"timeout",1)
-    sioCtrl(sSio, "endOfString", 10)
+  rx=""
+  last_id = ""
+  sioCtrl(sSio,"timeout",1)
+  sioCtrl(sSio, "endOfString", 10)
   array_separator = "|"
     while true
     while sioGet(sSio,rec_val) >0
@@ -43,31 +45,35 @@
           else 
               msg = right(rx, len(rx)-4)
               rx="" 
-              for index=0 to 9
-                args[index]=""
-              endFor
-              index = find(msg, " ") 
-              if index < 0 
-                cmd = msg
-              else
-                cmd = left(msg, index)
-                msg = right(msg, len(msg) - index -1)                
-                arg=0
-                while (len(msg) > 0 and (arg < 10))
-                  index = find(msg, array_separator)
-                  if index<0
-                    args[arg] = msg
-                    msg =""
-                  else
-                    args[arg] = left(msg, index)
-                    msg = right(msg, len(msg) - index -1)                    
-                  endIf
-                  arg = arg+1                  
-                endWhile
-              endIf                                                
-              tx = ""
-              ex = ""        
-              call onCommandTcp(cmd,args, tx, ex)                                                  
+              //If same id, repeat last answer
+              if msg_id != last_id
+                    for index=0 to 9
+                      args[index]=""
+                    endFor
+                    index = find(msg, " ") 
+                    if index < 0 
+                      cmd = msg
+                    else
+                      cmd = left(msg, index)
+                      msg = right(msg, len(msg) - index -1)                
+                      arg=0
+                      while (len(msg) > 0 and (arg < 10))
+                        index = find(msg, array_separator)
+                        if index<0
+                          args[arg] = msg
+                          msg =""
+                        else
+                          args[arg] = left(msg, index)
+                          msg = right(msg, len(msg) - index -1)                    
+                        endIf
+                        arg = arg+1                  
+                      endWhile
+                    endIf                                                
+                    tx = ""
+                    ex = ""                      
+                    call onCommandTcp(cmd,args, tx, ex)                       
+                    last_id = msg_id
+              endIf
               if len(ex) == 0
                 sSio = msg_id + tx 
               else
diff --git a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
index 0af5c5a..3848c8b 100644
--- a/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
+++ b/robot/MXLAB/Controller1/usr/usrapp/ForceDetection/onCommandTcp.pgx
@@ -12,19 +12,87 @@
       <Local name="puck" type="num" xsi:type="array" size="1" />
       <Local name="sample" type="num" xsi:type="array" size="1" />
       <Local name="bOk" type="bool" xsi:type="array" size="1" />
+      <Local name="aux" type="num" xsi:type="array" size="1" />
+      <Local name="ret" type="num" xsi:type="array" size="1" />
+      <Local name="count" type="num" xsi:type="array" size="1" />
     </Locals>
     <Code><![CDATA[begin
   switch(cmd)
     case "eval"
-      tx=$exec(cmd)
-      break
+      tx=$exec(args[0])
+      
+      //          if (find(cmd,"numRet")!=-1)
+      //          stringReturn = stringReturn+toString("4.4",numRet)
+      //        call notify:setString("NumericalReturn",toString("4.4",numRet))
+      //    endIf
+      //         if (find(cmd,"Power")!=-1)
+      //         call notify:setBool("IsPowered",isPowered())          
+      //     endIf   
+      
+      //      for i=0 to len(stringReturn)-1 step 1
+      //      numericalReturn[i]=asc(stringReturn,i)
+      //  endFor
+      
+      
+    break
+    case "get_var"
+      ret = getData(args[0], aux)        
+      switch(ret)
+        case -1        
+          ex = "The variable does not exists"
+        break          
+        case -2        
+          ex = "The variable library does not exists"
+        break          
+        case -3        
+          ex = "The index is out of range"
+        break          
+        case -4        
+          ex = "The data's type does not match the variable's type"
+        break  
+        default
+          tx = toString(".4", ret)
+        break
+      endSwitch
+    break 
+
+    case "get_arr"
+      toNum(args[1], count, bOk)
+      tx = ""
+      for index = 0 to count
+          ret = getData(args[0] + "[" + toString("", index )+ "]", aux)        
+          switch(ret)
+            case -1        
+              ex = "The variable does not exists"
+              return
+            break          
+            case -2        
+              ex = "The variable library does not exists"
+              return
+            break          
+            case -3        
+              ex = "The index is out of range"
+              return
+            break          
+            case -4        
+              ex = "The data's type does not match the variable's type"
+              return
+            break  
+            default
+              tx = tx + toString(".4", ret) + "|"
+            break
+          endSwitch
+        endFor
+    break  
+    
+    
     case "mount"
         toNum(args[0], puck, bOk)
         toNum(args[1], sample, bOk)
         tx = "Mounting sample " + toString("", puck) + ":" +  toString("", sample)
     break
     default
-        ex = "Invalid command: " + cmd
+      ex = "Invalid command: " + cmd
     break       
   endSwitch    
 end]]></Code>
diff --git a/script/local.py b/script/local.py
index 2ca406b..22687aa 100644
--- a/script/local.py
+++ b/script/local.py
@@ -16,8 +16,7 @@ class RobotTCP(TcpDevice):
          self.trailer = "\n"
          self.array_separator = '|'
          self.cmd_separator = ' '
-         self.msg_id = 0
-         self.setPolling(1000)
+         self.msg_id = 0         
     
     def _sendReceive(self, msg_id, msg = ""):        
         tx = self.header if (self.header != None) else  ""
@@ -59,19 +58,42 @@ class RobotTCP(TcpDevice):
         if ev.strip() == "": return None
         return ev
 
-    def eval(self, cmd):
+    def evaluate(self, cmd):
         return self.execute('eval', cmd)
 
+    def get_var(self, name):
+        return self.execute('get_var', name)
+
+    def get_arr(self, name, size):
+        return self.execute('get_arr', name, size)
+
+    def get_int(self):
+        return int(self.get_var("n"))
+
+    def eval_int(self, cmd):
+        ret = self.execute('eval', "n=" + cmd)
+        if ret.strip() != "":
+            raise Exception(ret)
+        return self.get_int()
+
+    def get_move_id():
+        self.eval_int("getMoveId()")
+        
     def mount(self, puck, sample):
         return self.execute('mount', puck, sample)
 
     def doUpdate(self):
-        ev = self.read_event()
+        ev = None
+        try:
+            ev = self.read_event()
+            self.setState(State.Ready)
+        except:
+            self.setState(State.Offline)            
         if ev is not None:
             self.getLogger().info(ev)
 
 add_device(RobotTCP("robot_tcp", "129.129.126.100:1000"), force = True)   
-
+robot_tcp.setPolling(500)