diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml
index 10f565719..e35c0352f 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/electronics/setup-eb2-j0_2-eln.xml
@@ -10,24 +10,23 @@
         <group name="ETH_BOARD_PROPERTIES">
             <param name="IpAddress">                10.0.1.1                </param>
             <param name="IpPort">                   12345                   </param>
-            <param name="Type">                     amc                    </param>
+            <param name="Type">                     amc                     </param>
             <param name="maxSizeRXpacket">          768                     </param>
             <param name="maxSizeROP">               384                     </param>
         </group>
 
         <group name="ETH_BOARD_SETTINGS">
-            <param name="Name">                     "setup-eb2-j0_2"        </param>
+            <param name="Name">                     "amc"                   </param>
 
             <group name="RUNNINGMODE">
 
-                <!-- execution can be [synchronized, besteffort]. 
-                 -->  
+                <!-- execution can be [synchronized, besteffort].-->  
                 <param name="execution">                synchronized        </param>                
                 <param name="period">                   1000                </param>
-                <param name="safetygap">                150                 </param>
                 <param name="maxTimeOfRXactivity">      400                 </param>
                 <param name="maxTimeOfDOactivity">      300                 </param>
                 <param name="maxTimeOfTXactivity">      300                 </param>
+                <param name="safetygap">                100                 </param>
                 <param name="TXrateOfRegularROPs">      5                   </param>
 
 
@@ -35,17 +34,17 @@
 
                     <group name="IMMEDIATE">
 
-                        <param name="emitRXDOTXoverflow">       false </param>
-                        <param name="emitPERIODoverflow">       true  </param>
+                        <param name="emitRXDOTXoverflow">       true        </param>
+                        <param name="emitPERIODoverflow">       true        </param>
 
                     </group>
 
                     <group name="PERIODIC">
 
-                        <param name="period">                  10.0        </param>                     
-                        <param name="emitRXDOTXstatistics">    true        </param>                   
-                        <param name="emitPERIODminavgmax">     true        </param>                   
-                        <param name="emitPERIODhistogram">     true        </param>
+                        <param name="period">                   10.0        </param>
+                        <param name="emitRXDOTXminavgmax">     true        </param>
+                        <param name="emitPERIODminavgmax">      true        </param>                   
+                        <param name="emitPERIODhistogram">      true        </param>
 
                     </group>
 
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
index 3e0684de1..1d17a680a 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/mechanicals/setup-eb2-j0_2-mec.xml
@@ -45,6 +45,7 @@
         <param name="HasSpeedEncoder">       0          </param>
         <param name="RotorIndexOffset">      0          </param>
         <param name="MotorPoles">            14         </param>
+        <param name="Kbemf">                 0          </param>
    </group>   
 
     <group name="COUPLINGS">
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml
index 4a12ae420..c3b4da672 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc.xml
@@ -24,7 +24,11 @@
     </group>
 
     <group name="TIMEOUTS">
-        <param name="velocity">                 100                </param>
+        <param name="velocity">                 300                 </param>
+        <param name="torque">                   300                 </param>
+        <param name="pwm">                      300                 </param>
+        <param name="current">                  300                 </param>
+        <param name="torque_measure">           300                 </param>
     </group>
 
     <group name="IMPEDANCE">
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml
index c72692572..43cbef346 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_PWM.xml
@@ -22,7 +22,11 @@
     </group>
 
     <group name="TIMEOUTS">
-        <param name="velocity">                 100                </param>
+        <param name="velocity">                 300                 </param>
+        <param name="torque">                   300                 </param>
+        <param name="pwm">                      300                 </param>
+        <param name="current">                  300                 </param>
+        <param name="torque_measure">           300                 </param>
     </group>
 
     <group name="IMPEDANCE">
diff --git a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
index 75aaf619e..f47fe4d69 100644
--- a/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
+++ b/experimentalSetups/lego_setup_amc_advfoc/hardware/motorControl/setup-eb2-j0_2-mc_service.xml
@@ -104,7 +104,7 @@
                 </group>
                 <group name="FIRMWARE">
                     <param name="major">            3       2           </param>
-                    <param name="minor">            9       2           </param>
+                    <param name="minor">            12      3           </param>
                     <param name="build">            0       0           </param>
                 </group>
             </group>
diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml
index 1c5e66434..5cd624ced 100644
--- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml
+++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/electronics/setup-eb2-j0_0-eln.xml
@@ -18,18 +18,25 @@
         <group name="ETH_BOARD_SETTINGS">
             <param name="Name">                     "amcfoc"                </param>
             <group name="RUNNINGMODE">
+                <param name="execution">                synchronized        </param>
                 <param name="period">                   1000                </param>
                 <param name="maxTimeOfRXactivity">      400                 </param>
                 <param name="maxTimeOfDOactivity">      300                 </param>
                 <param name="maxTimeOfTXactivity">      300                 </param>
+                <param name="safetygap">                100                 </param>
                 <param name="TXrateOfRegularROPs">      5                   </param>
+
                 <group name="LOGGING">
                     <group name="IMMEDIATE">
                         <param name="emitRXDOTXoverflow">       true        </param>
+                        <param name="emitPERIODoverflow">       true        </param>
                     </group>
+                    
                     <group name="PERIODIC">
-                        <param name="period">                   10          </param>                   
-                        <param name="emitRXDOTXstatistics">     false        </param>
+                        <param name="period">                   10          </param>
+                        <param name="emitRXDOTXminavgmax">      true        </param>
+                        <param name="emitPERIODminavgmax">      true        </param>
+                        <param name="emitPERIODhistogram">      true        </param>
                     </group>
                 </group>
             </group>
diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml
index d50f9ae74..c508a78d8 100644
--- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml
+++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/mechanicals/setup-eb2-j0_0-mec.xml
@@ -45,6 +45,7 @@
         <param name="HasSpeedEncoder">       0              </param>
         <param name="RotorIndexOffset">      0              </param>
         <param name="MotorPoles">            14             </param>
+        <param name="Kbemf">                 0              </param>
    </group>   
 
     <group name="COUPLINGS">
diff --git a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml
index a88a32184..4cae66213 100644
--- a/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml
+++ b/experimentalSetups/lego_setup_amcfoc_advfoc/hardware/motorControl/setup-eb2-j0_0-mc.xml
@@ -24,7 +24,11 @@
     </group>
 
     <group name="TIMEOUTS">
-        <param name="velocity">                 100                 </param>
+        <param name="velocity">                 300                 </param>
+        <param name="torque">                   300                 </param>
+        <param name="pwm">                      300                 </param>
+        <param name="current">                  300                 </param>
+        <param name="torque_measure">           300                 </param>
     </group>
 
     <group name="IMPEDANCE">
diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml
index 6a40db3cd..1bcc3fe80 100644
--- a/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml
+++ b/iCubTemplates/iCubTemplateV6_0/hardware/electronics/body_part--ebX-jA_B-eln.xml
@@ -53,24 +53,24 @@
                        of late phases.                       
                        You should use this mode if you want synchronous execution so that some actuations to motors do not drift inside the period 
 
-                          -------     --------          ------      --------   ---------         ------       --
+                          _______     ________          ______      ________   _________         ______       __
                          | RX    |   | DO     |        | TX   |    | RX      | | DO      |       | TX   |    | RX
-                          -------     --------          ------      ---------   ---------         ------      ---
+                          _______     ________          ______      _________   _________         ______      ___
                          ^           ^                 ^           ^           ^                 ^           ^ 
-                         o-----------d-----------------t-----------o-----------d-----------------t-----------o----------
+                         o- - - - - -d- -  - - - - - - t- - - - - -o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - 
                          | period n                                | period n+1                              | period n+2
-                         |-rx budget-|-do budget-------|-tx budget-|-rx budget-|-do budget-------|-tx budget-| ... 
+                         |-rx budget-|-do budget- - - -|-tx budget-|-rx budget-|-do budget- - - -|-tx budget-| ... 
  
                          Figure. Typical synchronized execution w/out overflow. Note that teh values of rx/do/tx budget are onfigurable w/ parameters
                                  maxTimeOfRXactivity, maxTimeOfDoactivity and maxTimeOfTXactivity                        
 
-                          --------------  --------      ------      --------   ---------         ------       --
+                          ______________  ________      ______      ________   _________         ______       __
                          | RX           || DO     |    | TX   |    | RX      | | DO      |       | TX   |    | RX
-                          --------------  --------      ------      ---------   ---------         ------      ---
+                          ______________  ________      ______      _________   _________         ______      ___
                          ^           ^^^^^             ^           ^           ^                 ^           ^ 
-                         o-----------d-----------------t-----------o-----------d-----------------t-----------o----------
+                         o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - -d- - - - - - - - -t- - - - - -o- - - - - -
                          | period n                                | period n+1                              | period n+2
-                         |-rx budget-|-do budget-------|-tx budget-|-rx budget-|-do budget-------|-tx budget-| ...  
+                         |-rx budget |-do budget       |-tx budget |-rx budget |-do budget       |-tx budget | ...  
                            
                          Figure. Typical synchronized execution w/ overflow of RX
 
@@ -91,20 +91,20 @@
                        You should use this mode if you have difficulties to determine correct slots for the synchronized execution mode and you can accept
                        some drifts of execution inside the period.
 
-                          -------  --------  ------                 ------------------  ---------  ------     --
+                          _______  ________  ______                 __________________  _________  ______     __
                          | RX    || DO     || TX   |               | RX               || DO      || TX   |   | RX
-                          -------  --------  ------                 ------------------  ---------  ------     ---
+                          _______  ________  ______                 __________________  _________  ______     ___
                          ^                                         ^                                         ^
-                         o-----------------------------------------o-----------------------------------------o----------
+                         o- - - - - - - - - - - - - - - - - - - - -o- - - - - - - - - - - - - - - - - - - - -o- - - - - 
                          | period n                                | period n+1                              | period n+2                                                                             | 
 
                          Figure. Typical best effort execution w/out overflow
 
-                          -----------------------------  -------------  ------  -------  ------  ------       --
+                          _____________________________  _____________  ______  _______  ______  ______       __
                          | RX                          || DO          || TX   || RX    || DO   || TX   |     | RX
-                          -----------------------------  -------------  ------  -------  ------  ------       ---
+                          _____________________________  _____________  ______  _______  ______  ______       ___
                          ^                                         ^^^^^^^^^^^^^ (activation remains valid)  ^
-                         o-----------------------------------------o-----------------------------------------o----------
+                         o- - - - - - - - - - - - - - - - - - - - -o- - - - - - - - - - - - - - - - - - - - -o- - - - - 
                          | period n                                | period n+1                              | period n+2   
                          
                          Figure. Typical best effort execution w/ overflow to next period (shortened for sake of displaying)