diff --git a/ergoCubSN001/network.ergoCubSN001-2foc-special.xml b/ergoCubSN001/network.ergoCubSN001-2foc-special.xml
new file mode 100644
index 0000000000..d6ed59507b
--- /dev/null
+++ b/ergoCubSN001/network.ergoCubSN001-2foc-special.xml
@@ -0,0 +1,259 @@
+<?xml version="1.0"?>
+
+<!--    description 
+
+        this file contains the boards mounted on the robot grouped by body parts.
+        every <board> has two compulsory properties: type, name. it may also have an 
+        additional property: required. so far the only value of required is "version".
+        each <board> contains two compulsory fields: ondevice, ataddress. and it may
+        have an additional field: version (if there is the required="version" property).
+        here is description of each of the previous:
+        -   type: must have a valid board name in short format: ems4, mc4plus, foc, strain, 
+            strain2, mtb, mtb4, mais, mc4, etc.
+        -   name: can be any string.
+        -   required: if present can be only ="version". it tells that that board MUST match
+            a given version of firmware. it is used to identify amongst the many versions of mc4 
+            boards.
+        -   ondevice: tells on which device the board is located. it can be ETH (for ETH robots)
+            or CFW2 for first generation CAN robots. 
+        -   ataddress: contains the network address under device. if device is ETH there is
+            ip="10.0.1.x" and if the board is a CAN board there is also canbus="c" canadr="a".
+            if the device is CFW, then there is only canbus="c" canadr="a".
+         -  version: contains the required version. typically only major and mino values are specified.
+         
+        the aim of this files is to be parsed by the python program robotFWmanager.py
+  -->
+
+<robot>
+
+
+
+ <part name="left_arm">
+ 
+        <board type='ems4' name="left_arm-eb2-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" />
+
+        </board>
+  
+        <board type='foc-special' name="foc-special.2.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.2.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="left_arm-eb4-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" />
+
+        </board>
+        
+        <board type='foc-special' name="foc-special.4.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.4.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="right_arm">
+ 
+        <board type='ems4' name="right_arm-eb1-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc-special' name="foc-special.1.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.1.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="right_arm-eb3-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc-special' name="foc-special.3.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.3.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="torso">
+
+        <board type='ems4' name="torso-eb5-j0_2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" />
+			<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
+        </board>
+
+        <board type='foc-special' name="foc-special.5.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='foc-special' name="foc-special.5.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.5.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.5.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+
+<part name="right_leg">
+
+        <board type='ems4' name="left_leg-eb6-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb7-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" />
+
+        </board>
+
+
+
+        <board type='foc-special' name="foc-special.6.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.6.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.6.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.6.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.7.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.7`.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+<part name="left_leg">
+
+        <board type='ems4' name="left_leg-eb8-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb9-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" />
+
+        </board>
+
+
+
+        <board type='foc-special' name="foc-special.8.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.8.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.8.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.8.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.9.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.9.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+   
+
+</robot>
+
+
diff --git a/ergoCubSN001/network.ergoCubSN001-2foc.xml b/ergoCubSN001/network.ergoCubSN001-2foc.xml
new file mode 100644
index 0000000000..f66a81d515
--- /dev/null
+++ b/ergoCubSN001/network.ergoCubSN001-2foc.xml
@@ -0,0 +1,259 @@
+<?xml version="1.0"?>
+
+<!--    description 
+
+        this file contains the boards mounted on the robot grouped by body parts.
+        every <board> has two compulsory properties: type, name. it may also have an 
+        additional property: required. so far the only value of required is "version".
+        each <board> contains two compulsory fields: ondevice, ataddress. and it may
+        have an additional field: version (if there is the required="version" property).
+        here is description of each of the previous:
+        -   type: must have a valid board name in short format: ems4, mc4plus, foc, strain, 
+            strain2, mtb, mtb4, mais, mc4, etc.
+        -   name: can be any string.
+        -   required: if present can be only ="version". it tells that that board MUST match
+            a given version of firmware. it is used to identify amongst the many versions of mc4 
+            boards.
+        -   ondevice: tells on which device the board is located. it can be ETH (for ETH robots)
+            or CFW2 for first generation CAN robots. 
+        -   ataddress: contains the network address under device. if device is ETH there is
+            ip="10.0.1.x" and if the board is a CAN board there is also canbus="c" canadr="a".
+            if the device is CFW, then there is only canbus="c" canadr="a".
+         -  version: contains the required version. typically only major and mino values are specified.
+         
+        the aim of this files is to be parsed by the python program robotFWmanager.py
+  -->
+
+<robot>
+
+
+
+ <part name="left_arm">
+ 
+        <board type='ems4' name="left_arm-eb2-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" />
+
+        </board>
+  
+        <board type='foc' name="foc.2.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.2.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="left_arm-eb4-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" />
+
+        </board>
+        
+        <board type='foc' name="foc.4.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.4.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="right_arm">
+ 
+        <board type='ems4' name="right_arm-eb1-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc' name="foc.1.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.1.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="right_arm-eb3-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc' name="foc.3.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.3.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="torso">
+
+        <board type='ems4' name="torso-eb5-j0_2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" />
+			<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
+        </board>
+
+        <board type='foc' name="foc.5.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='foc' name="foc.5.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.5.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.5.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+
+<part name="right_leg">
+
+        <board type='ems4' name="left_leg-eb6-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb7-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" />
+
+        </board>
+
+
+
+        <board type='foc' name="foc.6.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.6.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.6.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.6.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.7.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.7`.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+<part name="left_leg">
+
+        <board type='ems4' name="left_leg-eb8-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb9-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" />
+
+        </board>
+
+
+
+        <board type='foc' name="foc.8.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.8.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.8.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.8.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.9.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.9.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+   
+
+</robot>
+
+
diff --git a/ergoCubSN001/network.ergoCubSN001.xml b/ergoCubSN001/network.ergoCubSN001.xml
index 7af277c92d..07b6ea5e58 100644
--- a/ergoCubSN001/network.ergoCubSN001.xml
+++ b/ergoCubSN001/network.ergoCubSN001.xml
@@ -53,77 +53,106 @@
         <board type='mc4plus' name="head-eb21-j2_3">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.21" />
-            <connected bus="ETH" prev="10.0.1.20" next="10.0.1.22" />
+            <connected bus="ETH" prev="10.0.1.20" />
         </board>
 
     </part>
 
     <part name="left_arm">
 
-        <board type='ems4' name="left_arm-eb1-j0_1">
+        <board type='ems4' name="left_arm-eb2-j0_1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.1" />
-			<connected bus="ETH" prev="10.0.1.23" next="10.0.1.2" />
+            <ataddress ip="10.0.1.2" />
+			<connected bus="ETH" next="10.0.1.4" />
         </board>
 
        <board type='foc' name="foc.1.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.2" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
         <board type='foc' name="foc.1.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.2" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 		
-         <board type='ems4' name="left_arm-eb2-j2_3">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" />
-			<connected bus="ETH" prev="10.0.1.1" next="10.0.1.24" />
+            <ataddress ip="10.0.1.2" canbus="2" canadr="13"  />
+            <connected bus="CAN" />
+        </board>
+
+         <board type='ems4' name="left_arm-eb4-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" />
+			<connected bus="ETH" prev="10.0.1.2" next="10.0.1.23" />
         </board>       
 
-	<board type='mtb4' name="mtb4.left_arm.CAN2.1">
+        <board type='foc' name="foc.2.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" canbus="2" canadr="13"  />
+            <ataddress ip="10.0.1.4" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-
-        <board type='foc' name="foc.2.3">
+        <board type='foc' name="foc.2.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" canbus="1" canadr="3"  />
+            <ataddress ip="10.0.1.4" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.2.4">
+	    <board type='mtb4' name="mtb4.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" canbus="1" canadr="4"  />
+            <ataddress ip="10.0.1.4" canbus="2" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='mc4plus' name="left_arm-eb24-j4_7">
+        <board type='mc4plus' name="left_arm-eb23-j7_10">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.24" />
-			<connected bus="ETH" prev="10.0.1.2" next="10.0.1.25" />
+            <ataddress ip="10.0.1.23" />
+			<connected bus="ETH" prev="10.0.1.4" next="10.0.1.25" />
         </board>
 
-        <board type='mc4plus' name="left_arm-eb25-j8_11">
+        <board type='mc4plus' name="left_arm-eb25-j11_12">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.25" />
-			<connected bus="ETH" prev="10.0.1.24" next="10.0.1.26" />
+			<connected bus="ETH" prev="10.0.1.23" next="10.0.1.31" />
         </board>
 
-        <board type='mc4plus' name="left_arm-eb26-j12_15">
+        <board type='mtb4' name="mtb4.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.26" />
-			<connected bus="ETH" prev="10.0.1.25" next="10.0.1.3" />
+            <ataddress ip="10.0.1.25" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='mais' name="mais.left_hand">
+        <board type='mtb4' name="mtb4.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.26" canbus="1" canadr="14"  />
+            <ataddress ip="10.0.1.25" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='amc' name="left_arm-eb31-j4_6">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.31" />
+			<connected bus="ETH" prev="10.0.1.25"/>
+        </board>
+
+        <board type='amc2c' name="left_arm-eb31-j4_6">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.31" />
+			<connected bus="ETH" prev="10.0.1.25"/>
+        </board>
+
+        <board type='amcbldc' name="amcbldc.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.31" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='amcbldc' name="amcbldc.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.31" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
@@ -131,69 +160,99 @@
 
     <part name="right_arm">
 
-        <board type='ems4' name="right_arm-eb3-j0_1">
+        <board type='ems4' name="right_arm-eb1-j0_1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.3" />
-			<connected bus="ETH" prev="10.0.1.26" next="10.0.1.4" />
+            <ataddress ip="10.0.1.1" />
+			<connected bus="ETH" next="10.0.1.3" />
         </board>
 
-       <board type='foc' name="foc.3.1">
+       <board type='foc' name="foc.1.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.1.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+		
+        <board type='strain2' name="strain2.13">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="2" canadr="13"  />
+            <connected bus="CAN" />
+        </board>
+
+         <board type='ems4' name="right_arm-eb3-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" />
+			<connected bus="ETH" prev="10.0.1.1" next="10.0.1.22" />
+        </board>       
+
+        <board type='foc' name="foc.2.1">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.3" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.3.2">
+        <board type='foc' name="foc.2.2">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.3" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="right_arm-eb4-j2_3">
+	    <board type='mtb4' name="mtb4.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" />
-			<connected bus="ETH" prev="10.0.1.3" next="10.0.1.27" />
-        </board>        
+            <ataddress ip="10.0.1.3" canbus="2" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
 
-	<board type='mtb4' name="mtb4.right_arm.CAN2.1">
+        <board type='mc4plus' name="right_arm-eb22-j7_10">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" canbus="2" canadr="13"  />
-            <connected bus="CAN" />
+            <ataddress ip="10.0.1.22" />
+			<connected bus="ETH" prev="10.0.1.3" next="10.0.1.24" />
         </board>
 
-        <board type='foc' name="foc.4.3">
+        <board type='mc4plus' name="right_arm-eb24-j11_12">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" canbus="1" canadr="3"  />
+            <ataddress ip="10.0.1.24" />
+			<connected bus="ETH" prev="10.0.1.22" next="10.0.1.30" />
+        </board>
+
+        <board type='mtb4' name="mtb4.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.24" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.4.4">
+        <board type='mtb4' name="mtb4.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" canbus="1" canadr="4"  />
+            <ataddress ip="10.0.1.24" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='mc4plus' name="right_arm-eb27-j4_7">
+        <board type='amc' name="right_arm-eb30-j4_6">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.27" />
-			<connected bus="ETH" prev="10.0.1.4" next="10.0.1.28" />
+            <ataddress ip="10.0.1.30" />
+			<connected bus="ETH" prev="10.0.1.24"/>
         </board>
 
-        <board type='mc4plus' name="right_arm-eb28-j8_11">
+        <board type='amc2c' name="right_arm-eb30-j4_6">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.28" />
-			<connected bus="ETH" prev="10.0.1.27" next="10.0.1.29" />
+            <ataddress ip="10.0.1.30" />
+			<connected bus="ETH" prev="10.0.1.24"/>
         </board>
 
-        <board type='mc4plus' name="right_arm-eb29-j12_15">
+        <board type='amcbldc' name="amcbldc.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.29" />
-			<connected bus="ETH" prev="10.0.1.28" next="10.0.1.5" />
+            <ataddress ip="10.0.1.30" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='mais' name="mais.right_hand">
+        <board type='amcbldc' name="amcbldc.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.26" canbus="1" canadr="14"  />
+            <ataddress ip="10.0.1.30" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
@@ -204,7 +263,7 @@
         <board type='ems4' name="torso-eb5-j0_2">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.5" />
-			<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
+			<connected bus="ETH" next="10.0.1.6" />
         </board>
 
         <board type='foc' name="foc.5.1">
@@ -227,7 +286,7 @@
 
     </part>
 
-    <part name="left_leg">
+<part name="right_leg">
 
         <board type='ems4' name="left_leg-eb6-j0_1">
             <ondevice>ETH</ondevice>
@@ -235,36 +294,42 @@
 			<connected bus="ETH" prev="10.0.1.5" next="10.0.1.7" />
         </board>
 
-        <board type='ems4' name="left_leg-eb7-j2_3">
+        <board type='foc' name="foc.6.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.7" />
-			<connected bus="ETH" prev="10.0.1.6" next="10.0.1.8" />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="left_leg-eb8-j4_5">
+        <board type='foc' name="foc.6.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.8" />
-			<connected bus="ETH" prev="10.0.1.7" next="10.0.1.9" />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="left_leg-eb9-skin">
+        <board type='foc' name="foc.6.3">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.9" />
-			<connected bus="ETH" prev="10.0.1.8" next="10.0.1.10" />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.6.1">
+        <board type='foc' name="foc.6.4">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="4"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.6.2">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.6" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
+        <board type='ems4' name="left_leg-eb7-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" />
+			<connected bus="ETH" prev="10.0.1.6" next="10.0.1.8" />
+        </board>
+
         <board type='foc' name="foc.7.1">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.7" canbus="1" canadr="1"  />
@@ -277,80 +342,85 @@
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.8.1">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.7" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.8.2">
+        <board type='strain2' name="strain2.14">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.7" canbus="2" canadr="14"  />
             <connected bus="CAN" />
         </board>
 
     </part>
 
+<part name="right_leg">
 
-    <part name="right_leg">
-
-        <board type='ems4' name="right_leg-eb10-j0_1">
+        <board type='ems4' name="right_leg-eb8-j0_1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.10" />
-			<connected bus="ETH" prev="10.0.1.9" next="10.0.1.11" />
+            <ataddress ip="10.0.1.8" />
+			<connected bus="ETH" prev="10.0.1.7" next="10.0.1.9" />
         </board>
 
-        <board type='ems4' name="right_leg-eb11-j2_3">
+        <board type='foc' name="foc.8.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.11" />
-			<connected bus="ETH" prev="10.0.1.10" next="10.0.1.12" />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="right_leg-eb12-j4_5">
+        <board type='foc' name="foc.8.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.12" />
-			<connected bus="ETH" prev="10.0.1.11" next="10.0.1.13" />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="right_leg-eb13-skin">
+        <board type='foc' name="foc.8.3">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.13" />
-			<connected bus="ETH" prev="10.0.1.12" next="none" />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.10.1">
+        <board type='foc' name="foc.8.4">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.10" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="4"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.10.2">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.10" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.8" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.11.1">
+        <board type='ems4' name="right_leg-eb9-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" />
+			<connected bus="ETH" prev="10.0.1.8"/>
+        </board>
+
+        <board type='foc' name="foc.9.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.11" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.9" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.11.2">
+        <board type='foc' name="foc.9.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.11" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.9" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.12.1">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.12" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.9" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.12.2">
+        <board type='strain2' name="strain2.14">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.12" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.9" canbus="2" canadr="14"  />
             <connected bus="CAN" />
         </board>
 
@@ -368,3 +438,4 @@
 
 </robotnetwork>
 
+
diff --git a/ergoCubSN002/network.ergoCubSN002-2foc-special.xml b/ergoCubSN002/network.ergoCubSN002-2foc-special.xml
new file mode 100644
index 0000000000..d6ed59507b
--- /dev/null
+++ b/ergoCubSN002/network.ergoCubSN002-2foc-special.xml
@@ -0,0 +1,259 @@
+<?xml version="1.0"?>
+
+<!--    description 
+
+        this file contains the boards mounted on the robot grouped by body parts.
+        every <board> has two compulsory properties: type, name. it may also have an 
+        additional property: required. so far the only value of required is "version".
+        each <board> contains two compulsory fields: ondevice, ataddress. and it may
+        have an additional field: version (if there is the required="version" property).
+        here is description of each of the previous:
+        -   type: must have a valid board name in short format: ems4, mc4plus, foc, strain, 
+            strain2, mtb, mtb4, mais, mc4, etc.
+        -   name: can be any string.
+        -   required: if present can be only ="version". it tells that that board MUST match
+            a given version of firmware. it is used to identify amongst the many versions of mc4 
+            boards.
+        -   ondevice: tells on which device the board is located. it can be ETH (for ETH robots)
+            or CFW2 for first generation CAN robots. 
+        -   ataddress: contains the network address under device. if device is ETH there is
+            ip="10.0.1.x" and if the board is a CAN board there is also canbus="c" canadr="a".
+            if the device is CFW, then there is only canbus="c" canadr="a".
+         -  version: contains the required version. typically only major and mino values are specified.
+         
+        the aim of this files is to be parsed by the python program robotFWmanager.py
+  -->
+
+<robot>
+
+
+
+ <part name="left_arm">
+ 
+        <board type='ems4' name="left_arm-eb2-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" />
+
+        </board>
+  
+        <board type='foc-special' name="foc-special.2.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.2.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="left_arm-eb4-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" />
+
+        </board>
+        
+        <board type='foc-special' name="foc-special.4.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.4.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="right_arm">
+ 
+        <board type='ems4' name="right_arm-eb1-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc-special' name="foc-special.1.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.1.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="right_arm-eb3-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc-special' name="foc-special.3.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.3.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="torso">
+
+        <board type='ems4' name="torso-eb5-j0_2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" />
+			<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
+        </board>
+
+        <board type='foc-special' name="foc-special.5.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='foc-special' name="foc-special.5.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.5.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.5.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+
+<part name="right_leg">
+
+        <board type='ems4' name="left_leg-eb6-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb7-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" />
+
+        </board>
+
+
+
+        <board type='foc-special' name="foc-special.6.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.6.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.6.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.6.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.7.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.7`.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+<part name="left_leg">
+
+        <board type='ems4' name="left_leg-eb8-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb9-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" />
+
+        </board>
+
+
+
+        <board type='foc-special' name="foc-special.8.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.8.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.8.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.8.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.9.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc-special' name="foc-special.9.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+   
+
+</robot>
+
+
diff --git a/ergoCubSN002/network.ergoCubSN002-2foc.xml b/ergoCubSN002/network.ergoCubSN002-2foc.xml
new file mode 100644
index 0000000000..f66a81d515
--- /dev/null
+++ b/ergoCubSN002/network.ergoCubSN002-2foc.xml
@@ -0,0 +1,259 @@
+<?xml version="1.0"?>
+
+<!--    description 
+
+        this file contains the boards mounted on the robot grouped by body parts.
+        every <board> has two compulsory properties: type, name. it may also have an 
+        additional property: required. so far the only value of required is "version".
+        each <board> contains two compulsory fields: ondevice, ataddress. and it may
+        have an additional field: version (if there is the required="version" property).
+        here is description of each of the previous:
+        -   type: must have a valid board name in short format: ems4, mc4plus, foc, strain, 
+            strain2, mtb, mtb4, mais, mc4, etc.
+        -   name: can be any string.
+        -   required: if present can be only ="version". it tells that that board MUST match
+            a given version of firmware. it is used to identify amongst the many versions of mc4 
+            boards.
+        -   ondevice: tells on which device the board is located. it can be ETH (for ETH robots)
+            or CFW2 for first generation CAN robots. 
+        -   ataddress: contains the network address under device. if device is ETH there is
+            ip="10.0.1.x" and if the board is a CAN board there is also canbus="c" canadr="a".
+            if the device is CFW, then there is only canbus="c" canadr="a".
+         -  version: contains the required version. typically only major and mino values are specified.
+         
+        the aim of this files is to be parsed by the python program robotFWmanager.py
+  -->
+
+<robot>
+
+
+
+ <part name="left_arm">
+ 
+        <board type='ems4' name="left_arm-eb2-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" />
+
+        </board>
+  
+        <board type='foc' name="foc.2.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.2.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.2" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="left_arm-eb4-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" />
+
+        </board>
+        
+        <board type='foc' name="foc.4.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.4.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="right_arm">
+ 
+        <board type='ems4' name="right_arm-eb1-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc' name="foc.1.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.1.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='ems4' name="right_arm-eb3-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" />
+
+        </board>
+        
+        <board type='foc' name="foc.3.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.3.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+    
+
+ <part name="torso">
+
+        <board type='ems4' name="torso-eb5-j0_2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" />
+			<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
+        </board>
+
+        <board type='foc' name="foc.5.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+        
+        <board type='foc' name="foc.5.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.5.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.5.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.5" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+
+<part name="right_leg">
+
+        <board type='ems4' name="left_leg-eb6-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb7-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" />
+
+        </board>
+
+
+
+        <board type='foc' name="foc.6.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.6.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.6.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.6.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.6" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.7.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.7`.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+
+<part name="left_leg">
+
+        <board type='ems4' name="left_leg-eb8-j0_1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" />
+
+        </board>
+
+        <board type='ems4' name="left_leg-eb9-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" />
+
+        </board>
+
+
+
+        <board type='foc' name="foc.8.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.8.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.8.3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.8.4">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.8" canbus="1" canadr="4"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.9.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.9.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+    </part>
+   
+
+</robot>
+
+
diff --git a/ergoCubSN002/network.ergoCubSN002.xml b/ergoCubSN002/network.ergoCubSN002.xml
index 1d0cca0b09..07b6ea5e58 100644
--- a/ergoCubSN002/network.ergoCubSN002.xml
+++ b/ergoCubSN002/network.ergoCubSN002.xml
@@ -53,77 +53,106 @@
         <board type='mc4plus' name="head-eb21-j2_3">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.21" />
-            <connected bus="ETH" prev="10.0.1.20" next="10.0.1.22" />
+            <connected bus="ETH" prev="10.0.1.20" />
         </board>
 
     </part>
 
     <part name="left_arm">
 
-        <board type='ems4' name="left_arm-eb1-j0_1">
+        <board type='ems4' name="left_arm-eb2-j0_1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.1" />
-			<connected bus="ETH" prev="10.0.1.23" next="10.0.1.2" />
+            <ataddress ip="10.0.1.2" />
+			<connected bus="ETH" next="10.0.1.4" />
         </board>
 
        <board type='foc' name="foc.1.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.2" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
         <board type='foc' name="foc.1.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.2" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 		
-         <board type='ems4' name="left_arm-eb2-j2_3">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" />
-			<connected bus="ETH" prev="10.0.1.1" next="10.0.1.24" />
+            <ataddress ip="10.0.1.2" canbus="2" canadr="13"  />
+            <connected bus="CAN" />
+        </board>
+
+         <board type='ems4' name="left_arm-eb4-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.4" />
+			<connected bus="ETH" prev="10.0.1.2" next="10.0.1.23" />
         </board>       
 
-	<board type='mtb4' name="mtb4.left_arm.CAN2.1">
+        <board type='foc' name="foc.2.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" canbus="2" canadr="13"  />
+            <ataddress ip="10.0.1.4" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-
-        <board type='foc' name="foc.2.3">
+        <board type='foc' name="foc.2.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" canbus="1" canadr="3"  />
+            <ataddress ip="10.0.1.4" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.2.4">
+	    <board type='mtb4' name="mtb4.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.2" canbus="1" canadr="4"  />
+            <ataddress ip="10.0.1.4" canbus="2" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='mc4plus' name="left_arm-eb24-j4_7">
+        <board type='mc4plus' name="left_arm-eb23-j7_10">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.24" />
-			<connected bus="ETH" prev="10.0.1.2" next="10.0.1.25" />
+            <ataddress ip="10.0.1.23" />
+			<connected bus="ETH" prev="10.0.1.4" next="10.0.1.25" />
         </board>
 
-        <board type='mc4plus' name="left_arm-eb25-j8_11">
+        <board type='mc4plus' name="left_arm-eb25-j11_12">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.25" />
-			<connected bus="ETH" prev="10.0.1.24" next="10.0.1.26" />
+			<connected bus="ETH" prev="10.0.1.23" next="10.0.1.31" />
+        </board>
+
+        <board type='mtb4' name="mtb4.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.25" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='mtb4' name="mtb4.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.25" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='amc' name="left_arm-eb31-j4_6">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.31" />
+			<connected bus="ETH" prev="10.0.1.25"/>
+        </board>
+
+        <board type='amc2c' name="left_arm-eb31-j4_6">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.31" />
+			<connected bus="ETH" prev="10.0.1.25"/>
         </board>
 
-        <board type='mc4plus' name="left_arm-eb26-j12_15">
+        <board type='amcbldc' name="amcbldc.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.26" />
-			<connected bus="ETH" prev="10.0.1.25" next="10.0.1.3" />
+            <ataddress ip="10.0.1.31" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='mais' name="mais.left_hand">
+        <board type='amcbldc' name="amcbldc.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.26" canbus="1" canadr="14"  />
+            <ataddress ip="10.0.1.31" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
@@ -131,69 +160,99 @@
 
     <part name="right_arm">
 
-        <board type='ems4' name="right_arm-eb3-j0_1">
+        <board type='ems4' name="right_arm-eb1-j0_1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.3" />
-			<connected bus="ETH" prev="10.0.1.26" next="10.0.1.4" />
+            <ataddress ip="10.0.1.1" />
+			<connected bus="ETH" next="10.0.1.3" />
+        </board>
+
+       <board type='foc' name="foc.1.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
+
+        <board type='foc' name="foc.1.2">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
         </board>
+		
+        <board type='strain2' name="strain2.13">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.1" canbus="2" canadr="13"  />
+            <connected bus="CAN" />
+        </board>
+
+         <board type='ems4' name="right_arm-eb3-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.3" />
+			<connected bus="ETH" prev="10.0.1.1" next="10.0.1.22" />
+        </board>       
 
-       <board type='foc' name="foc.3.1">
+        <board type='foc' name="foc.2.1">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.3" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.3.2">
+        <board type='foc' name="foc.2.2">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.3" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="right_arm-eb4-j2_3">
+	    <board type='mtb4' name="mtb4.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" />
-			<connected bus="ETH" prev="10.0.1.3" next="10.0.1.27" />
-        </board>        
+            <ataddress ip="10.0.1.3" canbus="2" canadr="1"  />
+            <connected bus="CAN" />
+        </board>
 
-	<board type='mtb4' name="mtb4.right_arm.CAN2.1">
+        <board type='mc4plus' name="right_arm-eb22-j7_10">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" canbus="2" canadr="13"  />
-            <connected bus="CAN" />
+            <ataddress ip="10.0.1.22" />
+			<connected bus="ETH" prev="10.0.1.3" next="10.0.1.24" />
+        </board>
+
+        <board type='mc4plus' name="right_arm-eb24-j11_12">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.24" />
+			<connected bus="ETH" prev="10.0.1.22" next="10.0.1.30" />
         </board>
 
-        <board type='foc' name="foc.4.3">
+        <board type='mtb4' name="mtb4.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" canbus="1" canadr="3"  />
+            <ataddress ip="10.0.1.24" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.4.4">
+        <board type='mtb4' name="mtb4.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.4" canbus="1" canadr="4"  />
+            <ataddress ip="10.0.1.24" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='mc4plus' name="right_arm-eb27-j4_7">
+        <board type='amc' name="right_arm-eb30-j4_6">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.27" />
-			<connected bus="ETH" prev="10.0.1.4" next="10.0.1.28" />
+            <ataddress ip="10.0.1.30" />
+			<connected bus="ETH" prev="10.0.1.24"/>
         </board>
 
-        <board type='mc4plus' name="right_arm-eb28-j8_11">
+        <board type='amc2c' name="right_arm-eb30-j4_6">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.28" />
-			<connected bus="ETH" prev="10.0.1.27" next="10.0.1.29" />
+            <ataddress ip="10.0.1.30" />
+			<connected bus="ETH" prev="10.0.1.24"/>
         </board>
 
-        <board type='mc4plus' name="right_arm-eb29-j12_15">
+        <board type='amcbldc' name="amcbldc.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.29" />
-			<connected bus="ETH" prev="10.0.1.28" next="10.0.1.5" />
+            <ataddress ip="10.0.1.30" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='mais' name="mais.right_hand">
+        <board type='amcbldc' name="amcbldc.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.26" canbus="1" canadr="14"  />
+            <ataddress ip="10.0.1.30" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
@@ -204,7 +263,7 @@
         <board type='ems4' name="torso-eb5-j0_2">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.5" />
-			<connected bus="ETH" prev="10.0.1.29" next="10.0.1.6" />
+			<connected bus="ETH" next="10.0.1.6" />
         </board>
 
         <board type='foc' name="foc.5.1">
@@ -227,7 +286,7 @@
 
     </part>
 
-    <part name="left_leg">
+<part name="right_leg">
 
         <board type='ems4' name="left_leg-eb6-j0_1">
             <ondevice>ETH</ondevice>
@@ -235,36 +294,42 @@
 			<connected bus="ETH" prev="10.0.1.5" next="10.0.1.7" />
         </board>
 
-        <board type='ems4' name="left_leg-eb7-j2_3">
+        <board type='foc' name="foc.6.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.7" />
-			<connected bus="ETH" prev="10.0.1.6" next="10.0.1.8" />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="left_leg-eb8-j4_5">
+        <board type='foc' name="foc.6.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.8" />
-			<connected bus="ETH" prev="10.0.1.7" next="10.0.1.9" />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="left_leg-eb9-skin">
+        <board type='foc' name="foc.6.3">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.9" />
-			<connected bus="ETH" prev="10.0.1.8" next="10.0.1.10" />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.6.1">
+        <board type='foc' name="foc.6.4">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.6" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.6" canbus="1" canadr="4"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.6.2">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.6" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.6" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
+        <board type='ems4' name="left_leg-eb7-j2_3">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.7" />
+			<connected bus="ETH" prev="10.0.1.6" next="10.0.1.8" />
+        </board>
+
         <board type='foc' name="foc.7.1">
             <ondevice>ETH</ondevice>
             <ataddress ip="10.0.1.7" canbus="1" canadr="1"  />
@@ -277,80 +342,85 @@
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.8.1">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.7" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.8.2">
+        <board type='strain2' name="strain2.14">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.7" canbus="2" canadr="14"  />
             <connected bus="CAN" />
         </board>
 
     </part>
 
+<part name="right_leg">
 
-    <part name="right_leg">
-
-        <board type='ems4' name="right_leg-eb10-j0_1">
+        <board type='ems4' name="right_leg-eb8-j0_1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.10" />
-			<connected bus="ETH" prev="10.0.1.9" next="10.0.1.11" />
+            <ataddress ip="10.0.1.8" />
+			<connected bus="ETH" prev="10.0.1.7" next="10.0.1.9" />
         </board>
 
-        <board type='ems4' name="right_leg-eb11-j2_3">
+        <board type='foc' name="foc.8.1">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.11" />
-			<connected bus="ETH" prev="10.0.1.10" next="10.0.1.12" />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="1"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="right_leg-eb12-j4_5">
+        <board type='foc' name="foc.8.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.12" />
-			<connected bus="ETH" prev="10.0.1.11" next="10.0.1.13" />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="2"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='ems4' name="right_leg-eb13-skin">
+        <board type='foc' name="foc.8.3">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.13" />
-			<connected bus="ETH" prev="10.0.1.12" next="none" />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="3"  />
+            <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.10.1">
+        <board type='foc' name="foc.8.4">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.10" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.8" canbus="1" canadr="4"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.10.2">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.10" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.8" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.11.1">
+        <board type='ems4' name="right_leg-eb9-j2_3">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.11" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.9" />
+			<connected bus="ETH" prev="10.0.1.8"/>
+        </board>
+
+        <board type='foc' name="foc.9.1">
+            <ondevice>ETH</ondevice>
+            <ataddress ip="10.0.1.9" canbus="1" canadr="1"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.11.2">
+        <board type='foc' name="foc.9.2">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.11" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.9" canbus="1" canadr="2"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.12.1">
+        <board type='strain2' name="strain2.13">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.12" canbus="1" canadr="1"  />
+            <ataddress ip="10.0.1.9" canbus="2" canadr="13"  />
             <connected bus="CAN" />
         </board>
 
-        <board type='foc' name="foc.12.2">
+        <board type='strain2' name="strain2.14">
             <ondevice>ETH</ondevice>
-            <ataddress ip="10.0.1.12" canbus="1" canadr="2"  />
+            <ataddress ip="10.0.1.9" canbus="2" canadr="14"  />
             <connected bus="CAN" />
         </board>
 
@@ -367,3 +437,5 @@
 
 
 </robotnetwork>
+
+