diff --git a/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp b/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp
index a75d50b8d5278e83a19130fceedd3c167b108e00..be5350e5fd9e25030c492e8ef89b92ae3fc3e51e 100755
--- a/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp
+++ b/Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp
@@ -13,12 +13,12 @@ struct MedMinorServoAxis_tag
     double speed_max;
 } MedMinorServoAxis;
 
-const MedMinorServoAxis MINOR_SERVO_X = { "X", -80, 70, 0.0, 0.05, 0.01, 14.0 };
-const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -362.5, 2.5, 0.0, 0.05, 0.01, 8.0 };
+const MedMinorServoAxis MINOR_SERVO_X = { "X", -80, 80, 0.0, 0.05, 0.01, 14.0 };
+const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -5, 395, 0.0, 0.05, 0.01, 8.0 };
 const MedMinorServoAxis MINOR_SERVO_Y = { "Y", -80, 80, 0.0, 0.05, 0.01, 14.0 };
-const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -337.5, 7.5, 0.0, 0.05, 0.01, 8.0 };
-const MedMinorServoAxis MINOR_SERVO_Z1 = { "Z1", -115, 115, 0.0, 0.05, 0.01, 14.0 };
-const MedMinorServoAxis MINOR_SERVO_Z2 = { "Z2", -115, 115, 0.0, 0.05, 0.01, 14.0 };
-const MedMinorServoAxis MINOR_SERVO_Z3 = { "Z3", -115, 115, 0.0, 0.05, 0.01, 14.0 };
+const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -5, 345, 0.0, 0.05, 0.01, 8.0 };
+const MedMinorServoAxis MINOR_SERVO_Z1 = { "Z1", -125, 125, 0.0, 0.05, 0.01, 14.0 };
+const MedMinorServoAxis MINOR_SERVO_Z2 = { "Z2", -125, 125, 0.0, 0.05, 0.01, 14.0 };
+const MedMinorServoAxis MINOR_SERVO_Z3 = { "Z3", -125, 125, 0.0, 0.05, 0.01, 14.0 };
 
 #endif
\ No newline at end of file
diff --git a/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp b/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp
index 21870bca58ca759c502de4680aec6a5c06b37078..fbffc4b4e1c283c2b05f6097cf5be827d33015d8 100644
--- a/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp
+++ b/Medicina/Servers/MedicinaMinorServo/src/MedMinorServoControl.cpp
@@ -143,9 +143,6 @@ MedMinorServoControl::set_position(const MedMinorServoPosition& position)
     _commanded_status.enable = 1;
     _commanded_status.acknowledge = 0;
     _send_commanded_status();
-    CUSTOM_LOG(LM_FULL_INFO,
-               "MinorServo::MedMinorServoControl::set_position",
-               (LM_DEBUG, "set new position"));
 }
 
 void 
@@ -172,9 +169,6 @@ MedMinorServoControl::set_position_with_speed(const MedMinorServoPosition& posit
     _commanded_status.vel_z3 = speed;
     
     _send_commanded_status();
-    CUSTOM_LOG(LM_FULL_INFO,
-               "MinorServo::MedMinorServoControl::set_position_with_speed",
-               (LM_DEBUG, "set new position"));
 }
 
 void 
@@ -211,9 +205,6 @@ MedMinorServoControl::set_position_with_time(const MedMinorServoPosition& positi
                                 _commanded_status.pos_z3) / time_offset;
     }
     _send_commanded_status();
-    CUSTOM_LOG(LM_FULL_INFO,
-               "MinorServo::MedMinorServoControl::set_position_with_time",
-               (LM_DEBUG, "set new position"));
 }
 
 void 
@@ -222,9 +213,6 @@ MedMinorServoControl::set_last_position()
     boost::mutex::scoped_lock lock(_command_guard);
     boost::recursive_mutex::scoped_lock rlock(_read_guard);
     _send_commanded_status();
-    CUSTOM_LOG(LM_FULL_INFO,
-               "MinorServo::MedMinorServoControl::set_last_position",
-               (LM_DEBUG, "set new position"));
 }
 
 MedMinorServoPosition