diff --git a/software/monitor/monitor/Client.cs b/software/monitor/monitor/Client.cs
index a2b7ecc..61976b8 100644
--- a/software/monitor/monitor/Client.cs
+++ b/software/monitor/monitor/Client.cs
@@ -35,7 +35,7 @@ namespace monitor
         /// <summary>
         /// Default server name
         /// </summary>
-        public const string defaultIP = "10.105.1.13";
+        public const string defaultIP = "localhost";
 
         /// <summary>
         /// Default server port number
diff --git a/software/monitor/monitor/CommandManager.cs b/software/monitor/monitor/CommandManager.cs
index 03efac1..a77e736 100644
--- a/software/monitor/monitor/CommandManager.cs
+++ b/software/monitor/monitor/CommandManager.cs
@@ -180,11 +180,16 @@ namespace monitor
                 isBusy = true;
 
                 // Send command to server
+                if (timeout > 0) // Command request an acknowledge
+                {
+                    waitForAcknowledge = true;  // Flag used in OnMessageReception callback to avoid
+                                                // sending acknowledge message to upper level
+                }
+
                 Client.Write(cmd);
 
                 if (timeout > 0) // Command request an acknowledge
-                {
-                    
+                {   
                     waitForAcknowledge = true;  // Flag used in OnMessageReception callback to avoid
                                                 // sending acknowledge message to upper level
                     waitTimer.Interval = timeout;
diff --git a/software/monitor/monitor/DestijlCommandManager.cs b/software/monitor/monitor/DestijlCommandManager.cs
index 84b1bb9..d3803e7 100644
--- a/software/monitor/monitor/DestijlCommandManager.cs
+++ b/software/monitor/monitor/DestijlCommandManager.cs
@@ -111,7 +111,8 @@ namespace monitor
             InvalidAnswer,
             Busy,
             CommunicationLostWithRobot,
-            CommunicationLostWithServer
+            CommunicationLostWithServer,
+            CommunicationError
         }
 
         public struct Point {
@@ -259,6 +260,8 @@ namespace monitor
                     if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_NACK)) status = CommandStatus.Rejected;
                     // if communication is lost with robot, return CommunicationLostWithRobot
                     else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_TIMEOUT)) status = CommandStatus.CommunicationLostWithRobot;
+
+                    else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_COM_ERROR)) status = CommandStatus.CommunicationError;
                     // if answer is empty, communication with robot is lost
                     else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
                     //else status = CommandStatus.InvalidAnswer;
diff --git a/software/monitor/monitor/monitor b/software/monitor/monitor/monitor
index 91a9f4d..8c205e0 100755
Binary files a/software/monitor/monitor/monitor and b/software/monitor/monitor/monitor differ