diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/SC_TELL.dtx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/SC_TELL.dtx
new file mode 100644
index 0000000..b5be081
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/SC_TELL.dtx
@@ -0,0 +1,392 @@
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diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/SC_TELL.pjx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/SC_TELL.pjx
new file mode 100644
index 0000000..8022e1f
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/SC_TELL.pjx
@@ -0,0 +1,38 @@
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\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/ToDoComments.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/ToDoComments.pgx
new file mode 100644
index 0000000..be3b9ce
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/ToDoComments.pgx
@@ -0,0 +1,33 @@
+
+
+
+ mechanicle switch is to high
+
+ //18.5.2018
+ //Theraml correction implemented
+ //Corrected all the puck Positions
+ //hardware switch hight to check on all the positions
+
+
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+
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+
+
+end]]>
+
+
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/calcDewar.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/calcDewar.pgx
new file mode 100644
index 0000000..9e00ba6
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/calcDewar.pgx
@@ -0,0 +1,92 @@
+
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+
+ 0
+ if rec_val>31
+ rx=rx+chr(rec_val)
+ elseIf rec_val==10
+ if len(rx)<4
+ rx=""
+ else
+ msg_id=left(rx,4)
+ msg=right(rx,len(rx)-4)
+ rx=""
+ //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=""
+ //General commands
+ switch (cmd)
+ case "eval"
+ tx=$exec(args[0])
+ break
+
+ case "get_status"
+ aux=workingMode(count)
+ tx=toString("",aux)+array_separator
+ tx=tx+toString("",count)+array_separator
+ if isPowered()
+ tx=tx+"1"+array_separator
+ else
+ tx=tx+"0"+array_separator
+ endIf
+ aux=getMonitorSpeed()
+ tx=tx+toString("",aux)+array_separator
+ if isEmpty()
+ tx=tx+"1"+array_separator
+ else
+ tx=tx+"0"+array_separator
+ endIf
+ if isSettled()
+ tx=tx+"1"+array_separator
+ else
+ tx=tx+"0"+array_separator
+ endIf
+ //Task status
+ if len(args[0])>0
+ tx=tx+toString("",taskStatus(args[0]))+array_separator
+ else
+ tx=tx+"0"+array_separator
+ endIf
+ tx=tx+toString("",tcp_ret)+array_separator
+ j=herej()
+ //Flange position
+ //p=jointToPoint(flange,world, herej())
+
+ //Tool position
+ //$exec("p=jointToPoint(" + args[1] + "," + args[2] + ", herej())")
+ p=jointToPoint(tcp_curtool,world,herej())
+
+ precision="0.2"
+ tx=tx+toString(precision,j.j1)+array_separator
+ tx=tx+toString(precision,j.j2)+array_separator
+ tx=tx+toString(precision,j.j3)+array_separator
+ tx=tx+toString(precision,j.j4)+array_separator
+ tx=tx+toString(precision,j.j5)+array_separator
+ tx=tx+toString(precision,j.j6)+array_separator
+ tx=tx+toString(precision,p.trsf.x)+array_separator
+ tx=tx+toString(precision,p.trsf.y)+array_separator
+ tx=tx+toString(precision,p.trsf.z)+array_separator
+ tx=tx+toString(precision,p.trsf.rx)+array_separator
+ tx=tx+toString(precision,p.trsf.ry)+array_separator
+ tx=tx+toString(precision,p.trsf.rz)+array_separator
+
+ if tcp_events[0]!=""
+ tx=tx+tcp_events[0]
+ for index=0 to 8
+ tcp_events[index]=tcp_events[index+1]
+ endFor
+ tcp_events[9]=""
+ endIf
+ break
+
+ case "task_sts"
+ tx=""
+ for index=0 to (len(args)-1)
+ if len(args[index])>0
+ tx=tx+toString("",taskStatus(args[index]))+array_separator
+ endIf
+ endFor
+ break
+
+ case "dist_pnt"
+ //tolerance
+ p=jointToPoint(tcp_curtool,world,herej())
+ tx=""
+ for index=0 to (len(args)-1)
+ if len(args[index])>0
+ ret=getData(args[index],paux)
+ tx=tx+toString(".4",distance(p,paux))+array_separator
+ endIf
+ endFor
+ break
+
+ case "get_var","get_bool"
+ if cmd=="get_var"
+ ret=getData(args[0],aux)
+ else
+ ret=getData(args[0],auxb)
+ endIf
+ switch (ret)
+ case -1
+ ex="The variable does not exists"
+ break
+ case -2
+ ex="The variable library does not exist"
+ 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
+ if cmd=="get_var"
+ tx=toString(".4",aux)
+ else
+ if auxb
+ tx="1"
+ else
+ tx="0"
+ endIf
+ endIf
+ break
+ endSwitch
+ break
+
+ case "get_arr"
+ toNum(args[1],count,ok)
+ for index=0 to count
+ ret=getData(args[0]+"["+toString("",index)+"]",aux)
+ switch (ret)
+ case -1
+ ex="The variable does not exists"
+ break
+ case -2
+ ex="The variable library does not exist"
+ 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=tx+toString(".4",aux)+"|"
+ break
+ endSwitch
+ endFor
+ break
+
+ //case "get_str"
+ // //$exec("tcp_s = " + args[0]) TODO: MAKES THE CONTROLLER TO CRASH!
+ // //tx = s
+ //break
+
+ //taskKill can freeze if executed by eval
+ case "kill"
+ taskKill(args[0])
+ break
+ case "save"
+ aux=libSave()
+ tx=toString("",aux)
+ break
+ case "get_profile"
+ tx=getProfile()
+ break
+ case "set_profile"
+ ret=setProfile(args[0],args[1])
+ if (ret<0)
+ ex="Invalid profile name or password"
+ endIf
+ break
+ case "get_pnt"
+ $exec("tcp_p = "+args[0])
+ tx=tx+toString(".4",tcp_p.trsf.x)+"|"
+ tx=tx+toString(".4",tcp_p.trsf.y)+"|"
+ tx=tx+toString(".4",tcp_p.trsf.z)+"|"
+ tx=tx+toString(".4",tcp_p.trsf.rx)+"|"
+ tx=tx+toString(".4",tcp_p.trsf.ry)+"|"
+ tx=tx+toString(".4",tcp_p.trsf.rz)+"|"
+ break
+
+ case "get_jnt"
+ $exec("tcp_j = "+args[0])
+ tx=tx+toString(".4",tcp_j.j1)+"|"
+ tx=tx+toString(".4",tcp_j.j2)+"|"
+ tx=tx+toString(".4",tcp_j.j3)+"|"
+ tx=tx+toString(".4",tcp_j.j4)+"|"
+ tx=tx+toString(".4",tcp_j.j5)+"|"
+ tx=tx+toString(".4",tcp_j.j6)+"|"
+ break
+
+ case "get_trf"
+ $exec("tcp_t = "+args[0])
+ tx=tx+toString(".4",tcp_t.x)+"|"
+ tx=tx+toString(".4",tcp_t.y)+"|"
+ tx=tx+toString(".4",tcp_t.z)+"|"
+ tx=tx+toString(".4",tcp_t.rx)+"|"
+ tx=tx+toString(".4",tcp_t.ry)+"|"
+ tx=tx+toString(".4",tcp_t.rz)+"|"
+ break
+
+ case "get_help"
+ toNum(args[0],aux,ok)
+ if ok==true
+ tx=help(aux)
+ else
+ ex="Invalid code: "+args[0]
+ endIf
+ break
+
+ default
+ //App specific
+ call onCommandTcp(cmd,args,tx,ex)
+ if ((len(tx)==0) and (len(ex)==0))
+ ex="Invalid command: "+cmd
+ endIf
+ break
+ endSwitch
+ last_id=msg_id
+ endIf
+ if len(ex)==0
+ sSio=msg_id+tx
+ else
+ msg_id=replace(msg_id,"*",1,3)
+ sSio=msg_id+ex
+ endIf
+ endIf
+ endIf
+ endWhile
+ delay(0)
+ endWhile
+end]]>
+
+
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/control.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/control.pgx
new file mode 100644
index 0000000..f7fee6b
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/control.pgx
@@ -0,0 +1,31 @@
+
+
+
+ Turn Power ON
+ sMessage="Enabling arm power"
+ enablePower()
+ delay(3)
+ sMessage=""
+
+ else
+
+ //E- Stop
+ sMessage="E-Stop chaine open"
+ watch(esStatus()<2,nMessageDelay)
+ sMessage=""
+ endIf
+
+ else
+ //not in remote, tell user to turn on arm power
+ sMessage="press the arm power button"
+ watch(isPowered(),nMessageDelay)
+ sMessage=""
+ endIf
+
+ else
+ l_nMode=workingMode(l_nStatus)
+ if l_nStatus!=0
+ if l_nMode==1 and (l_nStatus>1 and l_nStatus<6)
+ //System is in manual jogging mode
+ sMessage="Turn off jogging mode"
+
+ l_nTime=clock()
+ do
+ l_nMode=workingMode(l_nStatus)
+ until l_nMode!=1 or l_nStatus<2 or l_nStatus>5 or clock()-l_nTime>nMessageDelay
+ sMessage=""
+
+ else
+ //System is in hold or connecting move
+ sMessage="Press MOVE / HOLD Button"
+
+ l_nTime=clock()
+ do
+ l_nMode=workingMode(l_nStatus)
+ until l_nStatus==0 or clock()-l_nTime>nMessageDelay
+ sMessage=""
+ endIf
+ endIf
+ endIf
+
+ //speed is not set to 100
+ if getMonitorSpeed()!=100
+
+ sMessage="set speed to 100"
+ watch(getMonitorSpeed()==100,nMessageDelay)
+ sMessage=""
+ endIf
+ endIf
+ delay(0)
+
+ endWhile
+
+
+end]]>
+
+
\ No newline at end of file
diff --git a/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveDewar.pgx b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveDewar.pgx
new file mode 100644
index 0000000..4458cc5
--- /dev/null
+++ b/robot/MXLAB/Controller1/usr/usrapp/SC_TELL/moveDewar.pgx
@@ -0,0 +1,66 @@
+
+
+
+