diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
index 84a8e90c7a..12b2ea1f11 100644
--- a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
+++ b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.cpp
@@ -1659,7 +1659,7 @@ bool embObjMotionControl::update(eOprotID32_t id32, double timestamp, void *rxda
         {
             if(! _temperatureSensorErrorWatchdog.at(motor).isStarted())
             {
-                yError() << getBoardInfo() << "At timestamp" << yarp::os::Time::now() << "In motor" << motor << "cannot read Temperature from I2C. There might be cabling problems, TDB cable might be broken or sensor unreachable";
+                yWarning() << getBoardInfo() << "At time" << (_temperatureSensorErrorWatchdog.at(motor).getAbsoluteTime() - yarp::os::Time::now()) << "In motor" << motor << "cannot read Temperature from I2C. There might be cabling problems, TDB cable might be broken or sensor unreachable";
                 _temperatureSensorErrorWatchdog.at(motor).start();
             }
             else
@@ -1667,7 +1667,7 @@ bool embObjMotionControl::update(eOprotID32_t id32, double timestamp, void *rxda
                 _temperatureSensorErrorWatchdog.at(motor).increment();
                 if( _temperatureSensorErrorWatchdog.at(motor).isExpired())
                 {
-                    yError()<< getBoardInfo() << "Motor" << motor << "failed to read" << _temperatureSensorErrorWatchdog.at(motor).getCount() << "temperature readings for" << yarp::os::Time::now() - _temperatureSensorErrorWatchdog.at(motor).getStartTime() << "seconds";
+                    yWarning()<< getBoardInfo() << "Motor" << motor << "failed to read" << _temperatureSensorErrorWatchdog.at(motor).getCount() << "temperature readings for" << yarp::os::Time::now() - _temperatureSensorErrorWatchdog.at(motor).getStartTime() << "seconds";
                     _temperatureSensorErrorWatchdog.at(motor).start();
                 }
             }
@@ -2282,12 +2282,6 @@ bool embObjMotionControl::setCalibrationParametersRaw(int j, const CalibrationPa
         calib.params.type14.offset                 = (int32_t)S_32(params.param5);
         calib.params.type14.calibrationZero        = (int32_t)S_32(_measureConverter->posA2E(params.paramZero, j));
 
-        yDebug() << "***** calib.params.type14.pwmlimit = " <<calib.params.type14.pwmlimit;
-        yDebug() << "***** calib.params.type14.final_pos = " <<calib.params.type14.final_pos;
-        yDebug() << "***** calib.params.type14.invertdirection = " <<calib.params.type14.invertdirection;
-        yDebug() << "***** calib.params.type14.rotation = " <<calib.params.type14.rotation;
-        yDebug() << "***** calib.params.type14.offset = " <<calib.params.type14.offset;
-        yDebug() << "***** calib.params.type14.calibrationZero = " <<calib.params.type14.calibrationZero;
         break;
 
     default:
@@ -4864,7 +4858,6 @@ bool embObjMotionControl::getTemperatureRaw(int m, double* val)
     eOmc_motor_status_basic_t status;
     eOprotID32_t protid = eoprot_ID_get(eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, m, eoprot_tag_mc_motor_status_basic);
 
-    // if (_temperatureSensorsVector.at(m) == nullptr ||  (_temperatureSensorsVector.at(motor)->getType() == motor_temperature_sensor_none))
     *val = NAN;
     if (_temperatureSensorsVector.at(m)->getType() == motor_temperature_sensor_none)
         return true;
@@ -4876,11 +4869,6 @@ bool embObjMotionControl::getTemperatureRaw(int m, double* val)
         yError() << getBoardInfo() << "At timestamp" << yarp::os::Time::now() << "In motor" << m << "embObjMotionControl::getTemperatureRaw failed to complete getLocalValue()";
         return ret;
     }
-
-    // if (((double)status.mot_temperature) == temperatureErrorValue_s) //using -5000 as the default value on 2FOC for initializing the temperature. If cannot read from I2C the value cannot be updated
-    // {
-    //     return false;
-    // }
     
     *val = _temperatureSensorsVector.at(m)->convertRawToTempCelsius((double)status.mot_temperature);
     
@@ -4900,18 +4888,6 @@ bool embObjMotionControl::getTemperaturesRaw(double *vals)
 
 bool embObjMotionControl::getTemperatureLimitRaw(int m, double *temp)
 {
-    // eOprotID32_t protid = eoprot_ID_get(eoprot_endpoint_motioncontrol, eoprot_entity_mc_motor, m, eoprot_tag_mc_motor_config_temperaturelimit);
-    // uint16_t size;
-    // eOmeas_temperature_t temperaturelimit = {0};
-    // *temp = 0;
-    // if(!askRemoteValue(protid, &temperaturelimit, size))
-    // {
-    //     yError() << "embObjMotionControl::getTemperatureLimitRaw() can't read temperature limits  for" << getBoardInfo() << " motor " << m;
-    //     return false;
-    // }
-
-    // *temp = (double) temperaturelimit;
-
     *temp= _temperatureLimits[m].warningTemperatureLimit;
 
     return true;
diff --git a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
index 02ce831d2e..88a8d99410 100644
--- a/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
+++ b/src/libraries/icubmod/embObjMotionControl/embObjMotionControl.h
@@ -118,13 +118,14 @@ class Watchdog
 bool _isStarted;
 uint32_t _count;
 double _time;
+double _abstime;
 uint32_t _threshold; // use 10000 as limit on the watchdog for the error on the temperature sensor receiving of the values - 
                     // since the ETH callback timing is 2ms by default so using 10000 we can set a checking threshould of 5 second
                     // in which we can allow the tdb to not respond. If cannot receive response over 1s we trigger the error
 public:
 
-Watchdog(): _count(0), _isStarted(false), _threshold(60000), _time(0){;}
-Watchdog(uint32_t threshold):_count(0), _isStarted(false), _threshold(threshold), _time(0){;}
+Watchdog(): _count(0), _isStarted(false), _threshold(60000), _time(0), _abstime(yarp::os::Time::now()){;}
+Watchdog(uint32_t threshold):_count(0), _isStarted(false), _threshold(threshold), _time(0), _abstime(yarp::os::Time::now()){;}
 ~Watchdog() = default;
 Watchdog(const Watchdog& other) =  default;
 Watchdog(Watchdog&& other) noexcept =  default;
@@ -134,13 +135,14 @@ Watchdog& operator=(Watchdog&& other) noexcept =  default;
 
 bool isStarted(){return _isStarted;}
 void start() {_count = 0; _time = yarp::os::Time::now(); _isStarted = true;}
-bool isExpired() {return (_count > _threshold);}
+bool isExpired() {return (_count >= _threshold);}
 void increment() {++_count;}
 void clear(){_isStarted=false;}
 double getStartTime() {return _time;}
 uint32_t getCount() {return _count; }
 void setThreshold(uint8_t txrateOfRegularROPs){ if(txrateOfRegularROPs != 0) _threshold = _threshold / txrateOfRegularROPs;}
 uint32_t getThreshold(){return _threshold;}
+double getAbsoluteTime(){return _abstime;}
 
 };