diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index c074ea6..f70e607 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -19,7 +19,7 @@ class RobotTCP(TcpDevice, Stoppable):
          self.status = None
          self.lock = threading.Lock()
          
-    def _sendReceive(self, msg_id, msg = ""):  
+    def _sendReceive(self, msg_id, msg = "", timeout =  None, retries = None):  
         tx = self.header if (self.header != None) else  ""
         tx = tx + msg_id + " " + msg        
         if (len(tx)>127):
@@ -38,10 +38,10 @@ class RobotTCP(TcpDevice, Stoppable):
             raise Exception(rx[4:])
         return rx[4:]
     
-    def call(self, msg):                
+    def call(self, msg, timeout =  None, retries = None):                
         id = "%03d" % self.msg_id
         self.msg_id = (self.msg_id+1)%1000        
-        return self._sendReceive(id, msg)        
+        return self._sendReceive(id, msg, timeout, retries)        
     
     def execute(self, command, *argv):        
         msg = str(command)
@@ -59,8 +59,8 @@ class RobotTCP(TcpDevice, Stoppable):
         if ev.strip() == "": return None
         return ev
 
-    def evaluate(self, cmd):
-        ret = self.execute('eval', cmd)
+    def evaluate(self, cmd, timeout =  self.timeout, retries = self.retries):
+        ret = self.execute('eval', cmd, timeout, retries)
         if ret.strip() != "": raise Exception(ret)
 
     def get_var(self, name):
@@ -160,12 +160,13 @@ class RobotTCP(TcpDevice, Stoppable):
         if (ret==-1): raise Exception("The robot is not in remote working mode")
         if (ret==-2): raise Exception("The monitor speed is under the control of the operator")
         if (ret==-3): raise Exception("The specified speed is not supported")
-
+    
     def enable(self):
         return self.evaluate("enablePower()")
 
+    #waits for power to be actually cut off
     def disable(self):
-        return self.evaluate("disablePower()")
+        return self.evaluate("disablePower()", timeout=5000)
 
     def is_calibrated(self):
         return self.eval_bool("isCalibrated()")