diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0b11031..3faaaf03 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@
 
 cmake_minimum_required(VERSION 3.12)
 
-project(icub_firmware_shared VERSION 1.41.2)
+project(icub_firmware_shared VERSION 1.41.3)
 
 find_package(YCM 0.11.0 REQUIRED)
 
diff --git a/eth/embobj/plus/comm-v2/icub/EoError.c b/eth/embobj/plus/comm-v2/icub/EoError.c
index 6e39a921..bb7c752f 100644
--- a/eth/embobj/plus/comm-v2/icub/EoError.c
+++ b/eth/embobj/plus/comm-v2/icub/EoError.c
@@ -179,7 +179,9 @@ const eoerror_valuestring_t eoerror_valuestrings_HW[] =
     {eoerror_value_HW_encoder_invalid_value,   "HW - encoder: the position data is not valid", ""},
     {eoerror_value_HW_encoder_close_to_limits, "HW - encoder: the position data is valid, but some operating conditions are close to limits.", ""},
     {eoerror_value_HW_encoder_crc,             "HW - encoder: inverted CRC is invalid", ""},
-    {eoerror_value_HW_encoder_not_connected,   "HW - encoder: not connected"}
+    {eoerror_value_HW_encoder_not_connected,   "HW - encoder: not connected"},
+    {eoerror_value_HW_amo_encoder_status0,     "HW - amo encoder status0 error: poor-level or clipping in the signal of master and/or nonius track.", "In par64 counts for the number of errors in 10 seconds (lower: LS 32bits nonius_max|nonius_min, upper: MS 32bits master_max|master_min)"},
+    {eoerror_value_HW_amo_encoder_status1,     "HW - amo encoder status1 error: errors on reading on master and/or nonius track.", "In par64 counts for the number of errors in 10 seconds masked as: crc error 0xffff000000000000, i2c comm error 0x0000ffff00000000, nonius track period consistency error 0x00000000ffff0000, eccessive input signal frequency for converters error 0x000000000000ffff "}
 };  EO_VERIFYsizeof(eoerror_valuestrings_HW, eoerror_value_HW_numberof*sizeof(const eoerror_valuestring_t)) 
 
 
@@ -204,7 +206,8 @@ const eoerror_valuestring_t eoerror_valuestrings_MC[] =
     {eoerror_value_MC_motor_wrong_state,     "MC: 2FOC wrong state. The 2FOC motor controller is in a control state different from required by the EMS.", "In par64 0xF0 is the mask of requested state, 0x0F is the mask of actual state. par16 = ID of joint."},
     {eoerror_value_MC_joint_hard_limit,      "MC: hard limit reached. The joint position is outside its hardware boundaries.", "In par16 = ID of joint."},
     {eoerror_value_MC_motor_qencoder_phase_disappeared, "MC: qenc error has disappeared, warning counter has been reset.", ""},
-    {eoerror_value_MC_motor_overheating,     "MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating.", "In par16 = ID of the joint. In par64 0xFFFF is the mask of the raw tmperature feedback."}
+    {eoerror_value_MC_motor_overheating,     "MC: overheating. Temperature hardware limit exceeded. The motor has been turned off to prevent it from being damaged by overheating.", "In par16 = ID of the joint. In par64 0xFFFF is the mask of the raw tmperature feedback."},
+    {eoerror_value_MC_motor_tdb_not_reading, "MC: TDB cannot receive any data on I2C channel. Motor temperature detection board is not receiving any data on the i2C channel.", "In par16 = ID of the joint."}
 
 };  EO_VERIFYsizeof(eoerror_valuestrings_MC, eoerror_value_MC_numberof*sizeof(const eoerror_valuestring_t)) 
 
diff --git a/eth/embobj/plus/comm-v2/icub/EoError.h b/eth/embobj/plus/comm-v2/icub/EoError.h
index ac47508e..af987786 100644
--- a/eth/embobj/plus/comm-v2/icub/EoError.h
+++ b/eth/embobj/plus/comm-v2/icub/EoError.h
@@ -198,10 +198,12 @@ typedef enum
     eoerror_value_HW_encoder_invalid_value   = 3,
     eoerror_value_HW_encoder_close_to_limits = 4,
     eoerror_value_HW_encoder_crc             = 5,
-    eoerror_value_HW_encoder_not_connected   = 6
+    eoerror_value_HW_encoder_not_connected   = 6,
+    eoerror_value_HW_amo_encoder_status0     = 7,
+    eoerror_value_HW_amo_encoder_status1     = 8
 } eOerror_value_HW_t;
 
-enum { eoerror_value_HW_numberof = 7 };
+enum { eoerror_value_HW_numberof = 9 };
 
 
 
@@ -234,10 +236,11 @@ typedef enum
     eoerror_value_MC_joint_hard_limit                   = 16,
     eoerror_value_MC_motor_qencoder_phase_disappeared   = 17,
     
-    eoerror_value_MC_motor_overheating                  = 18
+    eoerror_value_MC_motor_overheating                  = 18,
+    eoerror_value_MC_motor_tdb_not_reading              = 19
 } eOerror_value_MC_t;
 
-enum { eoerror_value_MC_numberof = 19 };
+enum { eoerror_value_MC_numberof = 20 };
 
 
 
diff --git a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h
index 642b5871..1727855c 100644
--- a/eth/embobj/plus/comm-v2/icub/EoMotionControl.h
+++ b/eth/embobj/plus/comm-v2/icub/EoMotionControl.h
@@ -79,7 +79,7 @@ typedef union
         unsigned CAN_IsWarnTX           :1;
         unsigned CAN_IsWarnRX           :1;
         unsigned OverHeatingFailure     :1;
-        unsigned unused                 :1;
+        unsigned I2C_CommFailure        :1;
         //B2 L
         unsigned ADCCalFailure          :1; 
         unsigned I2TFailure             :1;