diff --git a/robot/MXLAB/Controller1/usr/configs/cell.cfx b/robot/MXLAB/Controller1/usr/configs/cell.cfx
index 617cbc5..e5eb130 100644
--- a/robot/MXLAB/Controller1/usr/configs/cell.cfx
+++ b/robot/MXLAB/Controller1/usr/configs/cell.cfx
@@ -54,7 +54,7 @@
   <Bool name="parkCheckInAutoMode" value="false" />
   <String name="robotName" value="" />
   <autoStart name="" location="" />
-  <String name="initWorkingMode" value="manual" />
+  <String name="initWorkingMode" value="local" />
   <CellDynamicParams>
     <VectCart name="gravity" x="0" y="0" z="-9.81" />
   </CellDynamicParams>
diff --git a/robot/MXLAB/Controller1/usr/configs/controller.cfx b/robot/MXLAB/Controller1/usr/configs/controller.cfx
index 49211c9..45f650c 100644
--- a/robot/MXLAB/Controller1/usr/configs/controller.cfx
+++ b/robot/MXLAB/Controller1/usr/configs/controller.cfx
@@ -33,5 +33,5 @@
   <Float name="powerShutdownDelay" value="-1" />
   <String name="standardFiles" value="" />
   <Float name="lliCycleTime" value="-1" />
-  <Float name="powerHourCount" value="1.501997" />
+  <Float name="powerHourCount" value="2.001822" />
 </controller>
\ No newline at end of file
diff --git a/robot/MXLAB/MXLAB.cell b/robot/MXLAB/MXLAB.cell
index 12217e7..b18506b 100644
--- a/robot/MXLAB/MXLAB.cell
+++ b/robot/MXLAB/MXLAB.cell
@@ -1,4 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Cell xmlns="http://www.staubli.com/robotics/cell/1">
   <File path="Controller1\Controller1.controller" />
+  <File path="CAD\MXLAB.kxml" />
 </Cell>
\ No newline at end of file
diff --git a/script/RobotSC.py b/script/RobotSC.py
index 8b6f813..3f4489b 100644
--- a/script/RobotSC.py
+++ b/script/RobotSC.py
@@ -1,5 +1,7 @@
 run("RobotTCP")
 
+simulation = True
+
 class RobotSC(RobotTCP):    
     def mount(self, puck, sample):
         return self.execute('mount', puck, sample)   
@@ -16,21 +18,26 @@ class RobotSC(RobotTCP):
         #print "EVT: " + ev
         pass
     
-    def doUpdate(self):
-        start = time.time()
-        RobotTCP.doUpdate(self)
-        if self.state != State.Offline:
-            self.get_joint_forces()
-            for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]: 
-                dev.update()
+    def doUpdate(self):    
+        #start = time.time()
+        global simulation
+        if (!simulation):
+            RobotTCP.doUpdate(self)
+            if self.state != State.Offline:
+                self.get_joint_forces()
+                for dev in [jf1, jf2, jf3, jf4,jf5, jf6, jfc]: 
+                    dev.update()
         #print time.time() -start
 
 
     
 
 
-add_device(RobotSC("robot", "129.129.126.100:1000"), force = True) 
-add_device(RobotSC("robotemulator","129.129.126.174:851"),force = False)  
+if simulation:
+    add_device(RobotSC("robot","129.129.126.174:851"),force = True)  
+else:
+    add_device(RobotSC("robot", "129.129.126.100:1000"), force = True) 
+
 robot.setPolling(20)
 #robot.set_monitor_speed(20)