diff --git a/Software/CycloneHost/CycloneHost.py b/Software/CycloneHost/CycloneHost.py
index 462891d..b9ef100 100644
--- a/Software/CycloneHost/CycloneHost.py
+++ b/Software/CycloneHost/CycloneHost.py
@@ -45,7 +45,9 @@ DEVICE = "/dev/ttyUSB0"
 Emulate = 0
 # End configuration
 
-millis_wait = 0.5 # Delay used when re-trying to send/receive from the serial port [seconds]
+lastDrillPos = [0,0,0]
+
+seconds_wait = 0.5 # Delay used when re-trying to send/receive from the serial port [seconds]
 serial_timeout = 5 # Timeout for the serial port [seconds]
 
 OK_response = "ok" # First two characters of an OK response (case insensitive)
@@ -62,6 +64,7 @@ def connect(baudrate, device, emulate = 0):
 		Emulate = 0
 	else:
 		Emulate = 1
+		print "EMULATING MACHINE!"
 	print "Serial port opened, checking connection..."
 	time.sleep(2)
 	checkConnection()
@@ -72,23 +75,22 @@ def flushRecvBuffer(): # We could also use flushInput(), but showing the data th
 		return
 	while CNC_Machine.inWaiting() > 0:
 		response = CNC_Machine.readline()
-		if response != '':
-			print "IGNO: ", response
-		time.sleep(millis_wait) # Wait some milliseconds between attempts
+#		if response != '': print "IGNO: ", response
+		time.sleep(seconds_wait) # Wait some milliseconds between attempts
 
 def sendLine(line):
 	flushRecvBuffer()
 	if Emulate == 0:
 		CNC_Machine.write(line)
-	print "SENT: ", line
+#	print "SENT: ", line
 
 def recvLine():
 	if Emulate:
 		response = "ok Z30\n" # Asume OK + Z probing result
 	else:
 		response = CNC_Machine.readline()
-	if response != '': print "RECV: ", response
-	else: print "RECV: Receive timed out!"
+#	if response != '': print "RECV: ", response
+#	else: print "RECV: Receive timed out!"
 	return response
 
 def recvOK():
@@ -97,64 +99,86 @@ def recvOK():
 		return 1
 	return 0
 
-def waitForOK(): # This is a blocking function
-	print "Waiting for confirmation"
+def waitForOK(command="",timeoutResend=30): # This is a blocking function
+#	print "Waiting for confirmation"
+	i = 0
+	cmnd = command[:3].lower()
+	timeoutResend = float(timeoutResend)
+	#timeoutResend = 5.0 # Resend command every 5 seconds, error recovery
+	#if cmnd == "g28": timeoutResend = 60.0 # Homing moves will take more than 5 seconds
+	i_timeout = int(timeoutResend/float(serial_timeout+seconds_wait))
+#	print "i_timeout",i_timeout
 	while recvOK() != 1:
-		print "  Checking again..."
-		time.sleep(millis_wait) # Wait some milliseconds between attempts
+		print "  Checking again... timeout:",i_timeout
+		time.sleep(seconds_wait) # Wait some milliseconds between attempts
+		if cmnd != "g30" and i >= i_timeout: # WARNING: Commands that take >5s may have problems here!
+			print "  WATCHOUT! RESENDING:",command
+			sendLine(command)
+			i = 0
+		else:
+			i = i + 1
 
-def sendCommand(command): # Send command and wait for OK
+def sendCommand(command,timeoutResend=15): # Send command and wait for OK
 	sendLine(command)
-	waitForOK()
+	waitForOK(command,timeoutResend)
 
 def checkConnection():
-	print "Checking the connection..."
+#	print "Checking the connection..."
 	sendLine("G21\n") # We check the connection setting millimiters as the unit and waiting for the OK response
 	time.sleep(0.5)
 	while recvOK() != 1:
 		sendLine("G21\n")
-		time.sleep(millis_wait) # Wait some milliseconds between attempts
+		time.sleep(seconds_wait) # Wait some milliseconds between attempts
 
 def homeZXY():
+	global lastDrillPos
 	print "Homing all axis..."
-	sendCommand("G28 Z0\n") # move Z to min endstop
-	sendCommand("G28 X0\n") # move X to min endstop
-	sendCommand("G28 Y0\n") # move Y to min endstop
+	timeoutResend=30
+	sendCommand("G28 Z0\n",timeoutResend) # move Z to min endstop
+	sendCommand("G28 X0\n",timeoutResend) # move X to min endstop
+	sendCommand("G28 Y0\n",timeoutResend) # move Y to min endstop
 	if Emulate:
 		time.sleep(3)
+		lastDrillPos = [0,0,0]
 
 def moveXYZ(X, Y, Z, F):
-	print "Moving to:"
+	global lastDrillPos
+#	print "Moving to:"
 	if F <= 0:
 		print "ERROR: F <= 0"
 	sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" Z"+floats(Z)+" F"+floats(F)+"\n")
 	if Emulate:
-		dist = (X**2+Y**2+Z**2)**0.5 # [mm]
-		speed = F/60 # [mm/s]
-		time.sleep(dist/speed)
+		dist = ((X-lastDrillPos[0])**2+(Y-lastDrillPos[1])**2+(Z-lastDrillPos[2])**2)**0.5 # [mm]
+		speed = float(F)/60.0 # [mm/s]
+		time.sleep(float(dist)/speed)
+		lastDrillPos = [X,Y,Z]
 
 def moveXY(X, Y, F):
-	print "Moving to:"
+	global lastDrillPos
+#	print "Moving to:"
 	if F <= 0:
 		print "ERROR: F <= 0"
 	sendCommand("G1 X"+floats(X)+" Y"+floats(Y)+" F"+floats(F)+"\n")
 	if Emulate:
-		dist = (X**2+Y**2)**0.5 # [mm]
-		speed = F/60 # [mm/s]
-		time.sleep(dist/speed)
+		dist = ((X-lastDrillPos[0])**2+(Y-lastDrillPos[1])**2)**0.5 # [mm]
+		speed = float(F)/60.0 # [mm/s]
+		time.sleep(float(dist)/speed)
+		lastDrillPos = [X,Y,lastDrillPos[2]]
 
 def moveZ(Z, F):
-	print "Moving Z absolute:"
+	global lastDrillPos
+#	print "Moving Z absolute:"
 	if F <= 0:
 		print "ERROR: F <= 0"
 	sendCommand("G1 Z"+floats(Z)+" F"+floats(F)+"\n")
 	if Emulate:
-		dist = abs(Z) # [mm]
-		speed = F/60 # [mm/s]
-		time.sleep(dist/speed)
+		dist = abs(Z-lastDrillPos[2]) # [mm]
+		speed = float(F)/60.0 # [mm/s]
+		time.sleep(float(dist)/speed)
+		lastDrillPos = [lastDrillPos[0],lastDrillPos[1],Z]
 
 def moveZrel(Z, F):
-	print "Moving Z relative:"
+#	print "Moving Z relative:"
 	if F <= 0:
 		print "ERROR: F <= 0"
 	sendCommand("G91\n") # Set relative positioning
@@ -166,6 +190,12 @@ def moveZrelSafe(Z, F):
 		print "ERROR: F <= 0"
 	sendCommand("M121\n") # Enable endstops (for protection! usually it should **NOT** hit neither the endstop nor the PCB)
 	moveZrel(Z, F)
+	print "Moving Z safely..."
+	dist = abs(Z-lastDrillPos[2]) # [mm]
+	speed = float(F)/60.0 # [mm/s]
+	wait = float(dist)/speed # [s]
+	time.sleep(wait) # Wait for the movement to finish, this way the M121 command is effective
+	print "   Done moving Z!"
 	sendCommand("M120\n") # Disable endstops (we only use them for homing)
 
 def probeZ():
@@ -174,7 +204,7 @@ def probeZ():
 	response = recvLine() # Read the response, it is a variable run time so we may need to make multiple attempts
 	while response == '':
 		#print "."
-		time.sleep(millis_wait) # Wait some milliseconds between attempts
+		time.sleep(seconds_wait) # Wait some milliseconds between attempts
 		response = recvLine()
 	response_vals = response.split() # Split the response (i.e. "ok Z:1.23")
 	if response_vals[0][:2].lower() == OK_response.lower():
@@ -185,7 +215,7 @@ def probeZ():
 
 def close():
 	# IMPORTANT: Before closing the serial port we must make a blocking move in order to wait for all the buffered commands to end
-	sendCommand("G28 Z0\n") # move Z to min endstop
+	homeZXY()
 	if Emulate == 0:
 		CNC_Machine.close() # Close the serial port connection
 
diff --git a/Software/CycloneHost/GcodeParser.py b/Software/CycloneHost/GcodeParser.py
index d3a684f..ed4a664 100644
--- a/Software/CycloneHost/GcodeParser.py
+++ b/Software/CycloneHost/GcodeParser.py
@@ -189,7 +189,7 @@ def optimize(etch_moves_in, origin=[0,0], travel_height = 5): # Optimizes the to
 			if distance < closest :
 				closest = distance
 				closestMove_i = i
-			else : # We also consider that paths can be made in reverse
+			elif path[-1][2] == path[0][2]: # We also consider that paths can be made in reverse # Only in case there is no Z lift
 				firstPoint = path[-1] # We check the last point first
 				distance = (toolPosition[0]-firstPoint[0])**2 + (toolPosition[1]-firstPoint[1])**2 # We only check XY
 				if distance < closest :
@@ -217,7 +217,7 @@ def optimize(etch_moves_in, origin=[0,0], travel_height = 5): # Optimizes the to
 		
 		toolPosition = path[-1] # Set our endpoint as the initial one for the next move
 	
-	print "Minimum travel distance:", minDistance
+	print "Minimum XY travel distance:", minDistance**0.5
 	
 	travel_moves.append([toolPosition, [origin[0], origin[1], travel_height, 10]]) # Return to the origin
 	return etch_moves, travel_moves
diff --git a/Software/CycloneHost/GcodeViewer.py b/Software/CycloneHost/GcodeViewer.py
index f9824ed..8e96f1d 100644
--- a/Software/CycloneHost/GcodeViewer.py
+++ b/Software/CycloneHost/GcodeViewer.py
@@ -24,8 +24,12 @@ import GcodeParser as gcp
 def plotPoints(path_list, color, linewidth): # Thanks to pprzemek (http://stackoverflow.com/questions/2282727/draw-points-using-matplotlib-pyplot-x1-y1-x2-y2)
 	for path in path_list :
 		a = np.array(path) # Give to plot() the points in the adequate format
-		line, = plt.plot(a[:,0], a[:,1], color, linewidth=linewidth*3)
-		#line.set_antialiased(False) # turn off antialising
+		if len(path) > 1:
+			line, = plt.plot(a[:,0], a[:,1], color, linewidth=linewidth*3)
+			#line.set_antialiased(False) # turn off antialising
+		else:
+			plt.plot(path[0][0], path[0][1], c=color, marker='x')
+			plt.plot(path[0][0], path[0][1], markersize=linewidth*5, c=color, marker='o', mfc='none')
 
 def plotPath(etch_moves, travel_moves, etch_color, travel_color, etch_diam, travel_diam):
 	plotPoints(etch_moves, etch_color, etch_diam)
diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_drill.gcode b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_drill.gcode
index 8ca2ad4..7db9fd8 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_drill.gcode
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_drill.gcode
@@ -1,3701 +1,308 @@
 (Generated by ./pygerber2gcode_cui_MOD.py )
-( 2013-05-30 00:31:03 )
+( 2013-05-31 00:41:27 )
 (Initialize)
 
 (Start form here)
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diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_edge.gcode b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_edge.gcode
index c6db824..a133b3f 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_edge.gcode
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_edge.gcode
@@ -1,61 +1,54 @@
 (Generated by ./pygerber2gcode_cui_MOD.py )
-( 2013-05-30 00:31:03 )
+( 2013-05-31 00:41:27 )
 (Initialize)
 
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diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch.gcode b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch.gcode
index 2eb704c..d8d1640 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch.gcode
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch.gcode
@@ -1,6715 +1,6715 @@
 (Generated by ./pygerber2gcode_cui_MOD.py )
-( 2013-05-30 00:31:03 )
+( 2013-05-31 00:41:27 )
 (Initialize)
 
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 (Goto to Initial position)
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diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch2pass.gcode b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch2pass.gcode
index 5355a82..799cab5 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch2pass.gcode
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch2pass.gcode
@@ -1,4830 +1,4830 @@
 (Generated by ./pygerber2gcode_cui_MOD.py )
-( 2013-05-30 00:31:03 )
+( 2013-05-31 00:41:27 )
 (Initialize)
 
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 (Goto to Initial position)
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diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch3pass.gcode b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch3pass.gcode
index 6b9236c..47c0d28 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch3pass.gcode
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/out/printshield_etch3pass.gcode
@@ -1,3738 +1,3738 @@
 (Generated by ./pygerber2gcode_cui_MOD.py )
-( 2013-05-30 00:31:03 )
+( 2013-05-31 00:41:27 )
 (Initialize)
 
 (Start form here)
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+G1 X46.783236 Y29.260982 F100.000000
+G1 X47.305130 Y29.206128 F100.000000
+G1 X47.804215 Y29.368291 F100.000000
+G1 X48.194194 Y29.719430 F100.000000
+G1 X48.407637 Y30.198830 F100.000000
 G1 Y30.723600 F100.000000
-G1 X23.194194 Y31.203000 F100.000000
-G1 X22.804215 Y31.554139 F100.000000
-G1 X22.305130 Y31.716302 F100.000000
-G1 X21.783236 Y31.661448 F100.000000
-G1 X21.328772 Y31.399064 F100.000000
-G1 X21.228416 Y31.260935 F100.000000
-G1 X19.964470 Y31.260935 F100.000000
-G1 X19.162935 Y32.062470 F100.000000
+G1 X48.194194 Y31.203000 F100.000000
+G1 X47.804215 Y31.554139 F100.000000
+G1 X47.305130 Y31.716302 F100.000000
+G1 X46.783236 Y31.661448 F100.000000
+G1 X46.328772 Y31.399064 F100.000000
+G1 X46.228416 Y31.260935 F100.000000
+G1 X44.964470 Y31.260935 F100.000000
+G1 X44.162935 Y32.062470 F100.000000
 G1 Y45.877960 F100.000000
-G1 X23.754702 Y50.469728 F100.000000
-G1 X23.826085 Y50.583332 F100.000000
-G1 X23.909738 Y50.688229 F100.000000
-G1 X23.919859 Y50.732572 F100.000000
-G1 X23.944057 Y50.771084 F100.000000
-G1 X23.959080 Y50.904410 F100.000000
-G1 X23.988935 Y51.035215 F100.000000
+G1 X48.754702 Y50.469728 F100.000000
+G1 X48.826085 Y50.583332 F100.000000
+G1 X48.909738 Y50.688229 F100.000000
+G1 X48.919859 Y50.732572 F100.000000
+G1 X48.944057 Y50.771084 F100.000000
+G1 X48.959080 Y50.904410 F100.000000
+G1 X48.988935 Y51.035215 F100.000000
 G1 Y53.874689 F100.000000
-G0 Z2.000000
-G0 X18.908935 Y8.571741
+G0 Z0.500000
+G0 X43.908935 Y8.571741
 G1 Z-0.040000 F60.000000
 G1 Y8.793960 F100.000000
-G1 X19.690702 Y9.575728 F100.000000
-G1 X19.762085 Y9.689332 F100.000000
-G1 X19.845738 Y9.794229 F100.000000
-G1 X19.849495 Y9.810691 F100.000000
+G1 X44.690702 Y9.575728 F100.000000
+G1 X44.762085 Y9.689332 F100.000000
+G1 X44.845738 Y9.794229 F100.000000
+G1 X44.849495 Y9.810691 F100.000000
 G1 Y8.571741 F100.000000
-G0 Z2.000000
-G0 X37.958935 Y29.445215
+G0 Z0.500000
+G0 X62.958935 Y29.445215
 G1 Z-0.040000 F60.000000
-G1 X37.958935 Y29.445215 F100.000000
-G0 Z2.000000
-G0 X53.706935 Y44.541606
+G1 X62.958935 Y29.445215 F100.000000
+G0 Z0.500000
+G0 X78.706935 Y44.541606
 G1 Z-0.040000 F60.000000
 G1 Y48.749215 F100.000000
-G1 X53.677080 Y48.880020 F100.000000
-G1 X53.662057 Y49.013346 F100.000000
-G1 X53.637859 Y49.051858 F100.000000
-G1 X53.627738 Y49.096201 F100.000000
-G1 X53.544085 Y49.201098 F100.000000
-G1 X53.472702 Y49.314702 F100.000000
-G1 X50.912935 Y51.874470 F100.000000
+G1 X78.677080 Y48.880020 F100.000000
+G1 X78.662057 Y49.013346 F100.000000
+G1 X78.637859 Y49.051858 F100.000000
+G1 X78.627738 Y49.096201 F100.000000
+G1 X78.544085 Y49.201098 F100.000000
+G1 X78.472702 Y49.314702 F100.000000
+G1 X75.912935 Y51.874470 F100.000000
 G1 Y53.874689 F100.000000
 
 (Goto to Initial position)
-G0 Z2.000000
+G0 Z0.500000
 G0 X0.000000 Y0.000000
 G0 Z0.000000
diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.conf b/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.conf
index 6419e1c..73c5154 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.conf
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.conf
@@ -21,16 +21,16 @@ OUT_EDGE_FILE = "printshield_edge.gcode"
 INI_X=0.0
 INI_Y=0.0
 INI_Z=0.0
-MOVE_HEIGHT=2.0
+MOVE_HEIGHT=0.5
 IN_INCH_FLAG=1
 OUT_INCH_FLAG=0
 MCODE_FLAG=0
 XY_SPEED=100
 Z_SPEED=60
-LEFT_X=15.0
+LEFT_X=40.0
 LOWER_Y=5.0
-DRILL_SPEED=30
-DRILL_DEPTH=-1.7
+DRILL_SPEED=40
+DRILL_DEPTH=-2
 CUT_DEPTH=-0.04
 TOOL_D=0.1
 TOOL_2PASS_D=0.5
@@ -40,12 +40,12 @@ CAD_UNIT=0.00254
 DRILL_UNIT=0.00254
 EDGE_UNIT=0.00254
 EDGE_TOOL_D=2.4
-EDGE_DEPTH=-1.9
+EDGE_DEPTH=-2
 EDGE_SPEED=50
 EDGE_Z_SPEED=30
 MERGE_DRILL_DATA=0
-Z_STEP_DRILL=-0.3
-Z_STEP_EDGE=-0.5
+Z_STEP_DRILL=-0.1
+Z_STEP_EDGE=-0.4
 GERBER_COLOR=BLACK
 DRILL_COLOR=BLUE
 EDGE_COLOR=GREEN YELLOW
diff --git a/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.py b/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.py
index e6f41d9..df1ecd6 100644
--- a/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.py
+++ b/Software/GcodeGenerators/pyGerber2Gcode_CUI/pygerber2gcode_cui_MOD.py
@@ -794,7 +794,7 @@ def circle_points(cx,cy,r,points_num):
 	elif  new_points_num > 50 :
 		new_points_num = 50
 	
-	print "Modifyin CIRCLE points_num from",points_num,"to",new_points_num
+	print "Modifying CIRCLE points_num from",points_num,"to",new_points_num
 	points_num = new_points_num
 #	print "Circle: Radius:", str(r), "Points:", points_num
 	points=[]
@@ -1291,19 +1291,21 @@ def drill_hole(cx,cy,r):
 	global MOVE_HEIGHT, gTMP_DRILL_X, gTMP_DRILL_Y, gTMP_DRILL_Z, DRILL_SPEED, DRILL_DEPTH, Z_STEP_DRILL, XY_SPEED
 	out_data = ""
 	gcode_tmp_flag = 0
+#	r = r/2.0 # REDUCE DRILL SIZE
 	z_step_n = int(float(DRILL_DEPTH)/float(Z_STEP_DRILL)) + 1
 	z_step = float(DRILL_DEPTH)/z_step_n
 	#print "r=" + str(r)
 	if(MOVE_HEIGHT != gTMP_DRILL_Z):
 		gTMP_DRILL_Z = MOVE_HEIGHT
-		out_data += "G0 Z" + floats(gTMP_DRILL_Z) + "\n"
-	out_data += "G0 X" + floats(cx+r) + " Y" + floats(cy) + "\n"
-	out_data += "G17\n"	#Set XY plane
+		out_data += "G0 Z" + floats(gTMP_DRILL_Z) + " F" + floats(DRILL_SPEED) + "\n" # MOD
+#	out_data += "G0 X" + floats(cx+r) + " Y" + floats(cy) + "\n"\
+	out_data += "G0 X" + floats(cx) + " Y" + floats(cy) + "\n" # CENTER OF THE DRILL
+#	out_data += "G17\n"	#Set XY plane
 	points = circle_points(cx,cy,r,100)
 	i = 1
 	while i <= z_step_n:
 		gTMP_DRILL_Z = i*z_step
-		out_data += "G0 Z" + floats(gTMP_DRILL_Z) + " F" + floats(DRILL_SPEED) + "\n"
+#		out_data += "G0 Z" + floats(gTMP_DRILL_Z) + " F" + floats(DRILL_SPEED) + "\n"
 		j = 0
 		cricle_data = "G1"
 		while j< len(points):
@@ -1320,12 +1322,12 @@ def drill_hole(cx,cy,r):
 			if(gcode_tmp_flag):
 				#Goto initial X-Y position
 				cricle_data +=" F" + floats(XY_SPEED)
-				out_data += cricle_data + "\n"
+#				out_data += cricle_data + "\n" # DON'T MOVE XY WHILE DRILLING
 				cricle_data ="G1"
 			gcode_tmp_flag=0
 			j += 2
 		i += 1
-
+	out_data += "G0 Z" + floats(DRILL_DEPTH) + " F" + floats(DRILL_SPEED) + "\n" # MOD
 	gTMP_DRILL_X = cx+r
 	gTMP_DRILL_Y = cy
 	return out_data
diff --git a/Software/gcode_Z_adjust/Send.py b/Software/gcode_Z_adjust/Send.py
index 7063151..cc8fe41 100644
--- a/Software/gcode_Z_adjust/Send.py
+++ b/Software/gcode_Z_adjust/Send.py
@@ -13,7 +13,7 @@
 
 # Begin configuration
 BAUDRATE = 115200
-DEVICE = "/dev/ttyUSB0"
+DEVICE = "/dev/ttyUSB2"
 Emulate = 1
 # End configuration
 
@@ -29,13 +29,14 @@ import matplotlib.pyplot as plt
 sys.path.append("../CycloneHost")
 import GcodeViewer as gcv
 import CycloneHost as cy
+from helper import *
 # End modules
 
 filePath = "../GcodeGenerators/pyGerber2Gcode_CUI/out/"
 fileName = "printshield" # sys.argv[1]
 
 # Display the Gcode that is going to be etched
-(etch_moves, travel_moves, gcodeviewer) = gcv.view(filePath,fileName,showEtch=1)
+(etch_moves, travel_moves, gcodeviewer) = gcv.view(filePath,fileName,showEdge=1)
 figId = gcodeviewer.number
 
 def pltShowNonBlocking():
@@ -69,12 +70,12 @@ def drawTool(x, y):
 	toolPos_point, = plt.plot(0, 0, markersize=12, c='g', marker='x')
 	pltShowNonBlocking()
 
-F_slowMove = 200 # Move speed [mm/min?]
+F_slowMove = 200 # Move speed [mm/min]
 F_fastMove = 700
 
-F_etchMove = F_slowMove
 F_drillMove = 50
 F_edgeMove = 25
+F_etchMove = 100
 
 
 cy.connect(BAUDRATE, DEVICE, Emulate)
@@ -89,7 +90,7 @@ drawTool(10, 20) # Show a marker on the gcode plot
 
 # Warning: Do not lower too much or you will potentially cause damage!
 initial_Z_lowering_distance = -20
-#cy.moveZrelSafe(initial_Z_lowering_distance,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord)
+cy.moveZrelSafe(initial_Z_lowering_distance,F_slowMove/2) # Move Z towards the PCB (saves some probing time for the first coord)
 
 Z_origin_offset = cy.probeZ()
 print "Z offset:", Z_origin_offset
@@ -144,7 +145,7 @@ def getZoffset(x,y):
 probingResults()
 
 
-#print "Zero:",str(getZoffset(0,0))
+print "Must be zero:",floats(getZoffset(0,0))
 
 
 
@@ -154,90 +155,113 @@ probingResults()
 toolPos_X = 0
 toolPos_Y = 0
 toolPos_Z = 0
+toolPos_F = F_fastMove
 
 X_dest = 0
 Y_dest = 0
 Z_dest = 0
+F_dest = F_fastMove
 
-
-cy.moveZrelSafe(10,F_slowMove)
-toolPos_Z = 10
+cy.moveZrelSafe(5,F_slowMove)
+toolPos_Z = 5
 
 plt.figure(figId)
 
-Zlift = 0.5
+Zlift = 1.0
 
-Z_manual_offset = 0.02+10
+Z_manual_offset = 0.0
 
-maxDistance = 1**2 # [mm^2] 5mm (longer moves will be split to regulate Z)
+maxDistance = 3**2 # [mm^2] 3mm (longer moves will be split to regulate Z)
 minDistance = 0.005**2 # [mm^2] 0.005mm is the smallest distance that will be sent
 
 def splitLongEtchMove(distance):
-	global toolPos_X, toolPos_Y, toolPos_Z, X_dest, Y_dest, Z_dest
+	global toolPos_X, toolPos_Y, toolPos_Z, toolPos_F, X_dest, Y_dest, Z_dest, F_dest
 	
 	X_dest_tmp = toolPos_X
 	Y_dest_tmp = toolPos_Y
 	Z_dest_tmp = toolPos_Z
-		
+	F_dest_tmp = toolPos_Z
+	
 	#distance = distance**0.5 # [mm]
 	N_steps = int((distance/maxDistance)**0.5) # **must be** >= 1
 	
 	print "Splitting", distance**0.5, "mm segment into", N_steps, "steps"
 	
-	print "Orig:", toolPos_X, toolPos_Y, toolPos_Z, "Dest:", X_dest, Y_dest, Z_dest
+#	print "Orig:", toolPos_X, toolPos_Y, toolPos_Z, "Dest:", X_dest, Y_dest, Z_dest
 	
 	X_step = (X_dest-toolPos_X)/float(N_steps)
 	Y_step = (Y_dest-toolPos_Y)/float(N_steps)
 	Z_step = (Z_dest-toolPos_Z)/float(N_steps)
+	F_step = (F_dest-toolPos_F)/float(N_steps)
 	
 	for i in range(N_steps) :
 		X_dest_tmp = toolPos_X + X_step
 		Y_dest_tmp = toolPos_Y + Y_step
 		Z_dest_tmp = toolPos_Z + Z_step
-	
+		F_dest_tmp = toolPos_F + F_step
+		
 		Z_real = Z_dest_tmp+Z_origin_offset+getZoffset(X_dest_tmp, Y_dest_tmp)+Z_manual_offset
-		cy.moveXYZ(X_dest_tmp, Y_dest_tmp, Z_real, F_etchMove)
+		cy.moveXYZ(X_dest_tmp, Y_dest_tmp, Z_real, F_dest_tmp)
 		toolPos_refresh(X_dest_tmp, Y_dest_tmp, etching=1)
 		
-		print "Move:",X_dest_tmp, Y_dest_tmp, Z_dest_tmp
+#		print "Move:",X_dest_tmp, Y_dest_tmp, Z_dest_tmp
 		
 		toolPos_X = X_dest_tmp
 		toolPos_Y = Y_dest_tmp
 		toolPos_Z = Z_dest_tmp
+		toolPos_F = F_dest_tmp
+
+
+raw_input("Turn on the spindle and press enter to begin...")
 
 for path in etch_moves :
 	toolRefresh = 0
 	toolPos_draw(toolPos_X, toolPos_Y, etching=0)
-	cy.moveZrel(Zlift,F_fastMove) # Raise and move to next point
+	cy.moveZ(Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset+Zlift,F_fastMove) # Raise and move to next point
+	print "  travel Z:",Z_manual_offset+Zlift
 	X_dest = path[0][0]
 	Y_dest = path[0][1]
-	cy.moveXY(X_dest, Y_dest, F_fastMove)
+	F_dest = F_fastMove
+	cy.moveXY(X_dest, Y_dest, F_dest)
 	toolPos_draw(X_dest, Y_dest, etching=0)
-	cy.moveZrel(-Zlift,F_slowMove)
-	
+	Z_dest = path[0][2]
+	if Z_dest > 0:
+		F_dest = F_slowMove
+	else:
+		F_dest = path[0][3] # We set the original speed if it is etching/drill
+	cy.moveZ(Z_dest+Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset,F_dest)
+	print "Speed:",F_dest
+	print "  drill Z:",Z_dest+Z_manual_offset
 	toolPos_X = X_dest
 	toolPos_Y = Y_dest
 	toolPos_Z = Z_dest # Not sure..
+	toolPos_F = F_dest
+	
+#	print path
 	
 	for coord in path[1:] :
 		X_dest = coord[0]
 		Y_dest = coord[1]
 		Z_dest = coord[2]
+		F_dest = coord[3]
 		
 		distance = (X_dest-toolPos_X)**2+(Y_dest-toolPos_Y)**2
 		if distance >= maxDistance :
 			splitLongEtchMove(distance)
-		if distance < minDistance :
+		if distance < minDistance and (Z_dest-toolPos_Z)**2 < 0.001**2 : # Make sure it is not a Z movement
 			print "Ignoring", distance**0.5, "mm segment!"
 			continue
 		Z_real = Z_dest+Z_origin_offset+getZoffset(X_dest, Y_dest)+Z_manual_offset
-		cy.moveXYZ(X_dest, Y_dest, Z_real, F_etchMove)
+		cy.moveXYZ(X_dest, Y_dest, Z_real, F_dest)
+		print "Coords: Speed:",F_dest
 		toolPos_refresh(X_dest, Y_dest, etching=1)
 		
 		toolPos_X = X_dest
 		toolPos_Y = Y_dest
 		toolPos_Z = Z_dest
+		toolPos_F = F_dest
 
+cy.homeZXY()
 cy.close() # Close the serial port connection
 
 raw_input("Done. Press enter to exit...")