diff --git a/MTC_Adapter/MTC_Adapter/AdapterGeneric.cs b/MTC_Adapter/MTC_Adapter/AdapterGeneric.cs
index 9b347d6..7668eba 100644
--- a/MTC_Adapter/MTC_Adapter/AdapterGeneric.cs
+++ b/MTC_Adapter/MTC_Adapter/AdapterGeneric.cs
@@ -2408,8 +2408,8 @@ namespace MTC_Adapter
             if (utils.CRB("sendWatchDog"))
             {
                 int resto = 0;
-                Math.DivRem(DateTime.Now.Second, 2, out resto);
-                setFlag = resto == 0;
+                Math.DivRem(DateTime.Now.Second / utils.CRI("cycleWatchDog"), 2, out resto);
+                setFlag = resto != 0;
                 // se watchdog è cambiato lo invio, altrimenti lascio come è...
                 if (setFlag != lastWatchDog)
                 {
diff --git a/MTC_Adapter/MTC_Adapter/AdapterSiemens.cs b/MTC_Adapter/MTC_Adapter/AdapterSiemens.cs
index 8250a2f..8c64cc8 100644
--- a/MTC_Adapter/MTC_Adapter/AdapterSiemens.cs
+++ b/MTC_Adapter/MTC_Adapter/AdapterSiemens.cs
@@ -1008,17 +1008,6 @@ namespace MTC_Adapter
             string tipoAsse = "";
             string direzione = "";
 
-            // leggo le posizioni SINO ai 16 assi permessi...
-
-#if false
-            int memIndex = 0;
-            inizio = DateTime.Now;
-            // MODIFICA: leggo float direttamente x posizione assi...
-            float[] axisPosFloat = new float[axisPosData.Length];
-            SIEMENSMemRW_Float(R, baseMemAx, memIndex, ref axisPosFloat);
-            if (utils.CRB("recTime")) TimingData.addResult(string.Format("R{0}-AXIS_POS", MemBlockTop.Length), DateTime.Now.Subtract(inizio).Ticks);
-#endif
-
             inizio = DateTime.Now;
             // !!!FARE!!! test lettura di TUTTI i dati assi....
             SIEMENS.AxData[] ValAssi = SIEMENS_ref.getAllAxisPos();
diff --git a/MTC_Adapter/MTC_Adapter/App.CMS-FANUC.config b/MTC_Adapter/MTC_Adapter/App.CMS-FANUC.config
index 78d5e71..39a51f1 100644
--- a/MTC_Adapter/MTC_Adapter/App.CMS-FANUC.config
+++ b/MTC_Adapter/MTC_Adapter/App.CMS-FANUC.config
@@ -18,5 +18,6 @@
     <add key="trayClose" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="recTime" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="ipPLC" value="192.168.139.1" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
+    <add key="cycleWatchDog" value="2" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
   </appSettings>
 </configuration>
\ No newline at end of file
diff --git a/MTC_Adapter/MTC_Adapter/App.CMS-OSAI.config b/MTC_Adapter/MTC_Adapter/App.CMS-OSAI.config
index 1080ba1..d637556 100644
--- a/MTC_Adapter/MTC_Adapter/App.CMS-OSAI.config
+++ b/MTC_Adapter/MTC_Adapter/App.CMS-OSAI.config
@@ -18,5 +18,6 @@
     <add key="trayClose" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="recTime" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="ipPLC" value="192.168.139.1" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
+    <add key="cycleWatchDog" value="2" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
   </appSettings>
 </configuration>
\ No newline at end of file
diff --git a/MTC_Adapter/MTC_Adapter/App.CMS-SIEMENS.config b/MTC_Adapter/MTC_Adapter/App.CMS-SIEMENS.config
index 2c3e4c5..4aa908e 100644
--- a/MTC_Adapter/MTC_Adapter/App.CMS-SIEMENS.config
+++ b/MTC_Adapter/MTC_Adapter/App.CMS-SIEMENS.config
@@ -18,5 +18,6 @@
     <add key="trayClose" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="recTime" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="ipPLC" value="192.168.214.1" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
+    <add key="cycleWatchDog" value="3" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
   </appSettings>
 </configuration>
\ No newline at end of file
diff --git a/MTC_Adapter/MTC_Adapter/App.SCM-ESA.config b/MTC_Adapter/MTC_Adapter/App.SCM-ESA.config
index a078793..556f6ad 100644
--- a/MTC_Adapter/MTC_Adapter/App.SCM-ESA.config
+++ b/MTC_Adapter/MTC_Adapter/App.SCM-ESA.config
@@ -13,6 +13,7 @@
     <add key="autoLoadConf" value="true" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="openDumpOnStart" value="false" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <add key="procIotMem" value="true" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
+    <add key="cycleWatchDog" value="2" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <!--clock di base update...-->
     <add key="timerIntMs" value="10" xdt:Transform="Replace" xdt:Locator="Match(key)"/>
     <!--COMMENTATO IN DEBUG LOCALE-->
diff --git a/MTC_Adapter/MTC_Adapter/App.config b/MTC_Adapter/MTC_Adapter/App.config
index ea81852..41500fe 100644
--- a/MTC_Adapter/MTC_Adapter/App.config
+++ b/MTC_Adapter/MTC_Adapter/App.config
@@ -11,7 +11,7 @@
     <add key="startTimerMs" value="250"/>
     <add key="timerIntMs" value="5"/><!--invio da adapter ad agent: 5ms-->
     <add key="fastCount" value="60"/><!--100ms-->
-    <add key="normCount" value="150"/><!--500ms-->
+    <add key="normCount" value="100"/><!--500ms-->
     <add key="slowCount" value="1000"/><!--5 sec-->
     <add key="alarmSyncCount" value="6000"/><!--30 sec-->
     <add key="waitEndCycle" value="0"/><!--ms attesa dopo ogni ciclo lettura...-->
@@ -87,6 +87,7 @@
     <add key="eStopCode" value="152"/>
     <!--gestione watchdog CMS-->
     <add key="sendWatchDog" value="true"/>
+    <add key="cycleWatchDog" value="3"/>
     <add key="readAllTop" value="true"/>
     <add key="fastCopy" value="true"/>
     <add key="ClientSettingsProvider.ServiceUri" value=""/>