diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 4fd16e6..25a55fa 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -18,54 +18,25 @@ class RobotTCP(TcpDevice, Stoppable):
          self.working_mode = None
          self.status = None
          self.lock = threading.Lock()
+         
     def _sendReceive(self, msg_id, msg = ""):  
-    """
-        self.lock.acquire()
-        try:
-            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
-            start = time.time()
-            sending = True
-            while(True):
-                if sending:
-                    rx = self.sendReceive(tx, None, self.trailer , 0,  self.timeout, self.retries)
-                else:
-                    rx = self.wa
-                rx=rx[:-1] #Remove 0A
-                self.getLogger().finer("RX = '" + str(rx) + "'")
-                if rx[:3] != msg_id:                            
-                    if (time.time()-start) >= timeout:
-                        raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id )
-                else:
-                    if len(rx)<4:
-                        raise Exception("Invalid message size: " + str(len(rx)) )        
-                    if rx[3] == "*":
-                        raise Exception(rx[4:])
-                    return rx[4:]
-        finally:
-            self.lock.release()
-    """
-            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, None, self.trailer , msg_id,  self.timeout, self.retries)
-            rx=rx[:-1] #Remove 0A
-            self.getLogger().finer("RX = '" + str(rx) + "'")
-            if rx[:3] != msg_id:                            
-                if (time.time()-start) >= timeout:
-                    raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id )
-            if len(rx)<4:
-                raise Exception("Invalid message size: " + str(len(rx)) )        
-            if rx[3] == "*":
-                raise Exception(rx[4:])
-            return rx[4:]
+        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=rx[:-1] #Remove 0A
+        self.getLogger().finer("RX = '" + str(rx) + "'")
+        if rx[:3] != msg_id:                            
+            if (time.time()-start) >= timeout:
+                raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id )
+        if len(rx)<4:
+            raise Exception("Invalid message size: " + str(len(rx)) )        
+        if rx[3] == "*":
+            raise Exception(rx[4:])
+        return rx[4:]
     
     def call(self, msg):                
         id = "%03d" % self.msg_id