diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 5f9381a..4fd16e6 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -18,8 +18,8 @@ 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  ""
@@ -28,19 +28,44 @@ class RobotTCP(TcpDevice, Stoppable):
                 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 , 0,  self.timeout, self.retries)
+            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:           
-                print rx 
-                raise Exception("Received invalid message id: " + str(rx[:3]) + " - expecting:" + msg_id )
+            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:]
-        finally:
-            self.lock.release()
     
     def call(self, msg):                
         id = "%03d" % self.msg_id