diff --git a/config/settings.properties b/config/settings.properties
index 4b49a46..cc13f59 100644
--- a/config/settings.properties
+++ b/config/settings.properties
@@ -1,4 +1,4 @@
-#Tue Jul 23 10:58:33 CEST 2019
+#Tue Jul 23 15:28:01 CEST 2019
 barcode_reader_scan_pucks=false
 beamline_status_enabled=false
 cold_position_timeout=3600
diff --git a/plugins/Commands.java b/plugins/Commands.java
index 46bcbbb..1867bcb 100644
--- a/plugins/Commands.java
+++ b/plugins/Commands.java
@@ -9,6 +9,9 @@ import ch.psi.pshell.ui.Panel;
 import ch.psi.utils.State;
 import ch.psi.utils.swing.SwingUtils;
 import java.awt.Component;
+import java.io.IOException;
+import java.util.logging.Level;
+import java.util.logging.Logger;
 import javax.swing.JComponent;
 import javax.swing.JSpinner;
 import javax.swing.JTextField;
@@ -86,7 +89,12 @@ public class Commands extends Panel {
         try {
             evalAsync(statement, background).handle((ret, ex) -> {
                 if (ex != null){
-                    showException((Exception)ex);
+                    try {
+                        if (getContext().getSetting("recovering") == null) {
+                            showException((Exception)ex);                    
+                        }
+                    } catch (IOException e) {
+                    }
                 } else if (showReturn){
                     SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret));
                 }
diff --git a/plugins/Recovery.java b/plugins/Recovery.java
index 4967e94..118fe5f 100644
--- a/plugins/Recovery.java
+++ b/plugins/Recovery.java
@@ -7,7 +7,10 @@ import ch.psi.pshell.ui.Panel;
 import ch.psi.utils.State;
 import ch.psi.utils.swing.SwingUtils;
 import java.awt.Color;
+import java.io.IOException;
 import java.util.List;
+import java.util.logging.Level;
+import java.util.logging.Logger;
 import javax.swing.SwingUtilities;
 
 /**
@@ -38,7 +41,7 @@ public class Recovery extends Panel {
     }
     
     void updateButton(){
-        buttonRecover.setEnabled((getContext().getState() == State.Ready) &&                
+        buttonRecover.setEnabled((getContext().getState().isNormal()) &&                
                 (textPosition.getText().trim().isEmpty()) &&
                 ((!textSegment.getText().trim().isEmpty()) || (ledIsInDewar.getColor()==Color.GREEN))
                 );
@@ -53,15 +56,17 @@ public class Recovery extends Panel {
 
     @Override
     protected void onTimer() {
+        System.out.println(".");
         Device robot = getContext().getDevicePool().getByName("robot", Device.class);
         if ((robot==null) || (!robot.getState().isNormal())){
+            System.out.println("*");
             ledValidSegment.setColor(Color.BLACK);
             textSegment.setText("");            
             ledKnownPosition.setColor(Color.BLACK);
             textPosition.setText("");
             ledIsInDewar.setColor(Color.BLACK);
         } else {    
-            if (getState()==State.Ready){
+            if (getState().isNormal()){
                 String point = null;
                 try{
                     point = (String) eval("robot.get_current_point()", true);
@@ -227,19 +232,34 @@ public class Recovery extends Panel {
     }// </editor-fold>//GEN-END:initComponents
 
     private void buttonRecoverActionPerformed(java.awt.event.ActionEvent evt) {//GEN-FIRST:event_buttonRecoverActionPerformed
-        try{
+        try{            
             buttonAbort.setEnabled(true);
+            getContext().setSetting("recovering", "true");
+            Device robot = getContext().getDevicePool().getByName("robot", Device.class);
+            abort();
+            getContext().waitState(State.Ready, 5000);
+            eval("robot.stop_task()", false);            
+            robot.waitReady(5000);
             evalAsync("recover()", false).handle((ret, ex) -> {
                 if (ex != null){
                     showException((Exception)ex);
                 } else {
                     SwingUtils.showMessage(getTopLevel(), "Return", String.valueOf(ret));
                 }
+                try {
+                    getContext().setSetting("recovering", null);
+                } catch (IOException e) {
+                }
                 buttonAbort.setEnabled(false);
                 return ret;
             });
         } catch (Exception ex) {
             showException(ex);
+            try {
+                getContext().setSetting("recovering", null);
+            } catch (IOException e) {
+            }
+            buttonAbort.setEnabled(false);
         }
     }//GEN-LAST:event_buttonRecoverActionPerformed
 
diff --git a/script/motion/recover.py b/script/motion/recover.py
index cf0b498..984e2da 100644
--- a/script/motion/recover.py
+++ b/script/motion/recover.py
@@ -119,7 +119,7 @@ def move_to_safest_point(segment, vicinity_tolerance = 100):
 
 def is_in_dewar():
     z_hom = robot.get_pnt('pHome')[2]
-    z_cur=robot.get_cartesian_pos()[2]
+    z_cur=get_robot_position()[2]
     if z_cur > (z_hom - 30):
         return False
     d_dwr = robot.get_distance_to_pnt('pDewar')
@@ -129,7 +129,7 @@ def is_in_dewar():
     
      
 def recover(move_park = True):
-    #Initial checks
+    #Initial checks    
     robot.assert_no_task()
     robot.reset_motion()
     robot.wait_ready()