diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index a5d8426..40ccc34 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -1,6 +1,6 @@
 
 
-class RobotTCP(TcpDevice):    
+class RobotTCP(TcpDevice, Stoppable):    
     def __init__(self, name, server, timeout = 500, retries = 1):
          TcpDevice.__init__(self, name, server) 
          self.timeout =  timeout       
@@ -183,6 +183,20 @@ class RobotTCP(TcpDevice):
             self.working_mode = "invalid"
         return self.working_mode
 
+    #Motion control
+    def stop(self):
+        self.evaluate("stopMove()")
+
+    def resume(self):
+        self.evaluate("restartMove()")
+
+    def resetMotion(self):
+        self.evaluate("resetMotion()")
+
+    def wait_end_move(self):
+        self.evaluate("waitEndMove()")
+
+    
     #Updating
     def update_status(self):
         self.read_working_mode()
@@ -197,9 +211,11 @@ class RobotTCP(TcpDevice):
 
     def doUpdate(self):
         try:
+            start = time.time()
             self.update_status()            
             self.poll_events()
-            self.setState(State.Ready)
+            self.setState(State.Busy if self.status=="move" else State.Ready)
+            print time.time() - start
         except:
             self.setState(State.Offline)