diff --git a/tests/linuxcncrsh-tcp/expected-telnet-output b/tests/linuxcncrsh-tcp/expected-telnet-output
new file mode 100644
index 00000000000..bf8c6d136ff
--- /dev/null
+++ b/tests/linuxcncrsh-tcp/expected-telnet-output
@@ -0,0 +1,510 @@
+HELLO ACK EMCNETSVR 1.1
+ENABLE OFF
+ENABLE ON
+ERROR OK
+DEBUG 2147483647
+ERROR OK
+VERBOSE OFF
+SET VERBOSE ACK
+VERBOSE ON
+ERROR OK
+ECHO ON
+SET ECHO ACK
+ECHO OFF
+ERROR OK
+WAIT_MODE RECEIVED
+SET WAIT_MODE ACK
+WAIT_MODE DONE
+ERROR OK
+PLAT Linux
+ERROR OK
+UPDATE AUTO
+ERROR OK
+MODE MANUAL
+SET MODE NAK
+MODE MANUAL
+ERROR OK
+ESTOP ON
+SET ESTOP ACK
+ESTOP OFF
+ERROR OK
+MACHINE OFF
+SET MACHINE ACK
+MACHINE ON
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MDI
+ERROR OK
+PROBE_TRIPPED 0
+ERROR OK
+PROBE_VALUE 0
+ERROR OK
+ERROR OK
+ERROR OK
+ERROR OK
+SET PROBE NAK
+ERROR OK
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
+MODE MDI
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MDI
+ERROR OK
+ERROR OK
+SET PROBE NAK
+ERROR OK
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
+MODE MDI
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+SPINDLE 0 OFF
+SET SPINDLE ACK
+SPINDLE 0 FORWARD
+ERROR OK
+SPINDLE 0 FORWARD
+SET SPINDLE ACK
+SPINDLE 0 OFF
+ERROR OK
+SPINDLE 0 OFF
+ERROR OK
+SPINDLE 0 OFF
+error: invalid spindle: 99 (valid: -1 - 1)
+SPINDLE 0 OFF
+ERROR OK
+BRAKE ON
+SET BRAKE ACK
+BRAKE ON
+ERROR OK
+BRAKE ON
+SET BRAKE ACK
+BRAKE OFF
+ERROR OK
+BRAKE OFF
+ERROR OK
+BRAKE OFF
+error: invalid spindle: 99 (valid: -1 - 1)
+BRAKE OFF
+ERROR OK
+WAIT_MODE DONE
+SET WAIT_MODE ACK
+WAIT_MODE RECEIVED
+ERROR OK
+GET PAUSE NAK
+SET PAUSE ACK
+GET PAUSE NAK
+ERROR OK
+WAIT_MODE RECEIVED
+SET WAIT_MODE ACK
+WAIT_MODE DONE
+ERROR OK
+GET RESUME NAK
+SET RESUME ACK
+GET RESUME NAK
+ERROR OK
+SET MODE ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+ERROR OK
+ERROR OK
+ABS_ACT_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+ABS_CMD_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+ANGULAR_UNIT_CONVERSION AUTO
+ERROR OK
+COMM_MODE ASCII
+ERROR OK
+COMM_PROT 1.0
+ERROR OK
+DISPLAY_ANGULAR_UNITS DEG
+ERROR OK
+DISPLAY_LINEAR_UNITS INCH
+ERROR OK
+ERROR OK
+ERROR OK
+FEED_OVERRIDE 100
+ERROR OK
+FLOOD OFF
+ERROR OK
+JOINT_FAULT OK OK OK OK OK OK
+ERROR OK
+JOINT_LIMIT OK OK OK OK OK OK
+ERROR OK
+JOINT_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+JOINT_TYPE LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+ERROR OK
+JOINT_UNITS INCH INCH INCH MM MM MM
+ERROR OK
+KINEMATICS_TYPE 1
+ERROR OK
+LINEAR_UNIT_CONVERSION AUTO
+ERROR OK
+MIST OFF
+ERROR OK
+OPERATOR_DISPLAY OK
+ERROR OK
+OPERATOR_TEXT OK
+ERROR OK
+OPTIONAL_STOP 1
+ERROR OK
+OVERRIDE_LIMITS 0
+ERROR OK
+POS_OFFSET 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+PROGRAM NONE
+ERROR OK
+PROGRAM_ANGULAR_UNITS DEG
+ERROR OK
+PROGRAM_CODES G80 G17 G40 G20 G90 G94 G54 G49 G99 G64 G97 G91.1 G8 G92.2 F0 S0
+ERROR OK
+PROGRAM_LINE 0
+ERROR OK
+PROGRAM_UNITS INCH
+ERROR OK
+PROGRAM_STATUS IDLE
+ERROR OK
+PROGRAM_UNITS INCH
+ERROR OK
+REL_ACT_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+REL_CMD_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+WAIT_MODE DONE
+ERROR OK
+TELEOP_ENABLE OFF
+ERROR OK
+TIMEOUT 0.000000
+ERROR OK
+TOOL 0
+ERROR OK
+TOOL_OFFSET 0.000000
+ERROR OK
+UPDATE AUTO
+ERROR OK
+USER_ANGULAR_UNITS DEG
+ERROR OK
+USER_LINEAR_UNITS INCH
+ERROR OK
+COMM_MODE ASCII
+SET COMM_MODE ACK
+COMM_MODE ASCII
+ERROR OK
+COMM_PROT 1.0
+SET COMM_PROT ACK
+COMM_PROT 1.0
+ERROR OK
+GET ABORT NAK
+SET ABORT ACK
+GET ABORT NAK
+ERROR OK
+ANGULAR_UNIT_CONVERSION AUTO
+SET ANGULAR_UNIT_CONVERSION ACK
+ANGULAR_UNIT_CONVERSION DEG
+ERROR OK
+FEED_OVERRIDE 100
+SET FEED_OVERRIDE ACK
+FEED_OVERRIDE 100
+ERROR OK
+FLOOD OFF
+SET FLOOD ACK
+FLOOD ON
+ERROR OK
+GET JOG NAK
+SET JOG ACK
+GET JOG NAK
+ERROR OK
+GET JOG_INCR NAK
+SET JOG_INCR ACK
+GET JOG_INCR NAK
+ERROR OK
+GET JOG_STOP NAK
+SET JOG_STOP ACK
+GET JOG_STOP NAK
+ERROR OK
+LINEAR_UNIT_CONVERSION AUTO
+SET LINEAR_UNIT_CONVERSION ACK
+LINEAR_UNIT_CONVERSION MM
+ERROR OK
+MIST OFF
+SET MIST ACK
+MIST ON
+ERROR OK
+OPTIONAL_STOP 1
+SET OPTIONAL_STOP ACK
+OPTIONAL_STOP 1
+ERROR OK
+OVERRIDE_LIMITS 0
+SET OVERRIDE_LIMITS NAK
+OVERRIDE_LIMITS 0
+ERROR can't do that (EMC_JOINT_OVERRIDE_LIMITS:129) in MDI mode
+GET STEP NAK
+SET STEP NAK
+GET STEP NAK
+ERROR can't do that (EMC_TASK_PLAN_STEP:511) in MDI mode
+GET TASK_PLAN_INIT NAK
+SET TASK_PLAN_INIT ACK
+GET TASK_PLAN_INIT NAK
+ERROR OK
+TELEOP_ENABLE OFF
+SET TELEOP_ENABLE NAK
+TELEOP_ENABLE OFF
+ERROR OK
+TIMEOUT 0.000000
+SET TIMEOUT ACK
+TIMEOUT 10.000000
+ERROR OK
+TOOL_OFFSET 0.000000
+SET TOOL_OFFSET NAK
+TOOL_OFFSET 1.000000
+ERROR OK
+UPDATE AUTO
+SET UPDATE ACK
+UPDATE AUTO
+ERROR OK
+ERROR OK
+SET WAIT NAK
+ERROR OK
+ERROR OK
diff --git a/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini b/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini
index 1e8e36cca5d..157e2f188c3 100644
--- a/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini
+++ b/tests/linuxcncrsh-tcp/linuxcncrsh-test.ini
@@ -1,8 +1,8 @@
 [EMC]
 VERSION = 1.1
 DEBUG = 0x7FFFFFFF
+RCS_DEBUG = 0xEF67FFFF
 NML_FILE = tcp.nml
-#DEBUG = 0
 
 [DISPLAY]
 DISPLAY = linuxcncrsh
diff --git a/tests/linuxcncrsh/expected-telnet-output b/tests/linuxcncrsh/expected-telnet-output
index 87e95adf3b2..dfed0d1a5eb 100644
--- a/tests/linuxcncrsh/expected-telnet-output
+++ b/tests/linuxcncrsh/expected-telnet-output
@@ -1,146 +1,589 @@
 HELLO ACK EMCNETSVR 1.1
+ENABLE OFF
 ENABLE ON
-SET_WAIT DONE
-SET MODE ACK
+ERROR OK
+DEBUG 2147483647
+ERROR OK
+VERBOSE OFF
+SET VERBOSE ACK
+VERBOSE ON
+ERROR OK
+ECHO ON
+SET ECHO ACK
+ECHO OFF
+ERROR OK
+GET SET_WAIT NAK
+SET SET_WAIT NAK
+GET SET_WAIT NAK
+ERROR OK
+PLAT Linux
+ERROR OK
+UPDATE AUTO
+ERROR OK
+PLAT Linux
 MODE MANUAL
+SET MODE NAK
+MODE MANUAL
+ERROR OK
+ESTOP ON
+SET ESTOP ACK
 ESTOP OFF
-MACHINE ON
-SPINDLE 0 FORWARD
-SPINDLE 0 OFF
+ERROR OK
+MACHINE OFF
+SET MACHINE ACK
+MACHINE ON
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MDI
+ERROR OK
+POS_OFFSET 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+PROBE_TRIPPED 0
+ERROR OK
+PROBE_VALUE 0
+ERROR OK
+ERROR OK
+ERROR OK
+ERROR OK
+SET PROBE ACK
+ERROR OK
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
+ERROR OK
+SET PROBE ACK
+ERROR OK
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+SET PROBE ACK
+ERROR can't do that (EMC_JOINT_HOME:123) in MDI mode
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
 MODE MDI
-m100 p67 q0
-set mdi m100 p68 q0
-set mdi m100 p69 q0
-set mdi m100 p70 q0
-set mdi m100 p71 q0
-set mdi m100 p72 q0
-set mdi m100 p73 q0
-set mdi m100 p74 q0
-set mdi m100 p75 q0
-set mdi m100 p76 q0
-set mdi m100 p77 q0
-set mdi m100 p78 q0
-set mdi m100 p79 q0
-set mdi m100 p80 q0
-set mdi m100 p81 q0
-set mdi m100 p82 q0
-set mdi m100 p83 q0
-set mdi m100 p84 q0
-set mdi m100 p85 q0
-set mdi m100 p86 q0
-set mdi m100 p87 q0
-set mdi m100 p88 q0
-set mdi m100 p89 q0
-set mdi m100 p90 q0
-set mdi m100 p91 q0
-set mdi m100 p92 q0
-set mdi m100 p93 q0
-set mdi m100 p94 q0
-set mdi m100 p95 q0
-set mdi m100 p96 q0
-set mdi m100 p97 q0
-set mdi m100 p98 q0
-set mdi m100 p99 q0
-set mdi m100 p100 q0
-set mdi m100 p101 q0
-set mdi m100 p102 q0
-set mdi m100 p103 q0
-set mdi m100 p104 q0
-set mdi m100 p105 q0
-set mdi m100 p106 q0
-set mdi m100 p107 q0
-set mdi m100 p108 q0
-set mdi m100 p109 q0
-set mdi m100 p110 q0
-set mdi m100 p111 q0
-set mdi m100 p112 q0
-set mdi m100 p113 q0
-set mdi m100 p114 q0
-set mdi m100 p115 q0
-set mdi m100 p116 q0
-set mdi m100 p117 q0
-set mdi m100 p118 q0
-set mdi m100 p119 q0
-set mdi m100 p120 q0
-set mdi m100 p121 q0
-set mdi m100 p122 q0
-set mdi m100 p123 q0
-set mdi m100 p124 q0
-set mdi m100 p125 q0
-set mdi m100 p126 q0
-set mdi m100 p127 q0
-set mdi m100 p128 q0
-set mdi m100 p129 q0
-set mdi m100 p130 q0
-set mdi m100 p131 q0
-set mdi m100 p132 q0
-set mdi m100 p133 q0
-set mdi m100 p134 q0
-set mdi m100 p135 q0
-set mdi m100 p136 q0
-set mdi m100 p137 q0
-set mdi m100 p138 q0
-set mdi m100 p139 q0
-set mdi m100 p140 q0
-set mdi m100 p141 q0
-set mdi m100 p142 q0
-set mdi m100 p143 q0
-set mdi m100 p144 q0
-set mdi m100 p145 q0
-set mdi m100 p146 q0
-set mdi m100 p147 q0
-set mdi m100 p148 q0
-set mdi m100 p149 q0
-set mdi m100 p150 q0
-set mdi m100 p151 q0
-set mdi m100 p152 q0
-set mdi m100 p153 q0
-set mdi m100 p154 q0
-set mdi m100 p155 q0
-set mdi m100 p156 q0
-set mdi m100 p157 q0
-set mdi m100 p158 q0
-set mdi m100 p159 q0
-set mdi m100 p160 q0
-set mdi m100 p161 q0
-set mdi m100 p162 q0
-set mdi m100 p163 q0
-set mdi m100 p164 q0
-set mdi m100 p165 q0
-set mdi m100 p166 q0
-set mdi m100 p167 q0
-set mdi m100 p168 q0
-set mdi m100 p169 q0
-set mdi m100 p170 q0
-set mdi m100 p171 q0
-set mdi m100 p172 q0
-set mdi m100 p173 q0
-set mdi m100 p174 q0
-set mdi m100 p175 q0
-set mdi m100 p176 q0
-set mdi m100 p177 q0
-set mdi m100 p178 q0
-set mdi m100 p179 q0
-set mdi m100 p180 q0
-set mdi m100 p181 q0
-set mdi m100 p182 q0
-set mdi m100 p183 q0
-set mdi m100 p184 q0
-set mdi m100 p185 q0
-set mdi m100 p186 q0
-set mdi m100 p187 q0
-set mdi m100 p188 q0
-set mdi m100 p189 q0
-set mdi m100 p190 q0
-set mdi m100 p191 q0
-set mdi m100 p192 q0
-set mdi m100 p193 q0
-set mdi m100 p194 q0
-set mdi m100 p195 q0
-set mdi m100 p196 q0
-set mdi m100 p197 q0
-set mdi m100 p198 q0
-set mdi m100 p199 q0
-set mdi m100 p200 q0
-set mdi m100 p-3 q-4
-shutdown
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+SET ESTOP ACK
+ESTOP OFF
+ESTOP OFF
+SET ESTOP ACK
+ESTOP OFF
+ERROR OK
+MACHINE ON
+SET MACHINE ACK
+MACHINE ON
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+MODE MANUAL
+SET MODE ACK
+MODE MDI
+ERROR OK
+PROBE_TRIPPED 0
+ERROR OK
+PROBE_VALUE 0
+ERROR OK
+ERROR OK
+ERROR OK
+ERROR OK
+SET PROBE ACK
+ERROR OK
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
+MODE MDI
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR OK
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR must be in joint mode to home
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR must be in joint mode to home
+GET HOME NAK
+SET HOME ACK
+GET HOME NAK
+ERROR must be in joint mode to home
+MODE MANUAL
+SET MODE ACK
+MODE MDI
+ERROR OK
+ERROR OK
+SET PROBE ACK
+ERROR OK
+ERROR G38.2 move finished without making contact.
+ERROR G38.2 move finished without making contact.
+SET PROBE_CLEAR ACK
+ERROR G38.2 move finished without making contact.
+ERROR OK
+MODE MDI
+SET MODE ACK
+MODE MANUAL
+ERROR OK
+SPINDLE 0 OFF
+SET SPINDLE ACK
+SPINDLE 0 FORWARD
+ERROR OK
+SPINDLE 0 FORWARD
+SET SPINDLE ACK
+SPINDLE 0 OFF
+ERROR OK
+SPINDLE 0 OFF
+ERROR OK
+SPINDLE 0 OFF
+error: invalid spindle: 99 (valid: -1 - 1)
+SPINDLE 0 OFF
+ERROR OK
+BRAKE ON
+SET BRAKE ACK
+BRAKE ON
+ERROR OK
+BRAKE ON
+SET BRAKE ACK
+BRAKE OFF
+ERROR OK
+BRAKE OFF
+ERROR OK
+BRAKE OFF
+error: invalid spindle: 99 (valid: -1 - 1)
+BRAKE OFF
+ERROR OK
+WAIT_MODE RECEIVED
+SET WAIT_MODE ACK
+WAIT_MODE RECEIVED
+ERROR OK
+GET PAUSE NAK
+SET PAUSE ACK
+GET PAUSE NAK
+ERROR OK
+WAIT_MODE RECEIVED
+SET WAIT_MODE ACK
+WAIT_MODE DONE
+ERROR OK
+GET RESUME NAK
+SET RESUME ACK
+GET RESUME NAK
+ERROR OK
+SET MODE ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+SET MDI ACK
+ERROR OK
+ERROR OK
+ABS_ACT_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+ABS_CMD_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+ANGULAR_UNIT_CONVERSION AUTO
+ERROR OK
+COMM_MODE ASCII
+ERROR OK
+COMM_PROT 1.0
+ERROR OK
+DISPLAY_ANGULAR_UNITS DEG
+ERROR OK
+DISPLAY_LINEAR_UNITS INCH
+ERROR OK
+ERROR OK
+ERROR OK
+FEED_OVERRIDE 100.000000
+ERROR OK
+FLOOD OFF
+ERROR OK
+JOINT_FAULT OK OK OK OK OK OK
+ERROR OK
+JOINT_HOMED YES YES YES NO NO NO
+ERROR OK
+JOINT_LIMIT OK OK OK OK OK OK
+ERROR OK
+JOINT_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+JOINT_TYPE LINEAR LINEAR LINEAR LINEAR LINEAR LINEAR
+ERROR OK
+JOINT_UNITS INCH INCH INCH MM MM MM
+ERROR OK
+KINEMATICS_TYPE 1
+ERROR OK
+LINEAR_UNIT_CONVERSION AUTO
+ERROR OK
+MIST OFF
+ERROR OK
+OPERATOR_DISPLAY OK
+ERROR OK
+OPERATOR_TEXT OK
+ERROR OK
+OPTIONAL_STOP 1
+ERROR OK
+OVERRIDE_LIMITS 0
+ERROR OK
+PROGRAM NONE
+ERROR OK
+PROGRAM_ANGULAR_UNITS DEG
+ERROR OK
+PROGRAM_CODES G80 G17 G40 G20 G90 G94 G54 G49 G99 G64 G97 G91.1 G8 G92.2 F0 S0
+ERROR OK
+PROGRAM_LINE 0
+ERROR OK
+PROGRAM_UNITS INCH
+ERROR OK
+PROGRAM_STATUS IDLE
+ERROR OK
+PROGRAM_UNITS INCH
+ERROR OK
+REL_ACT_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+REL_CMD_POS 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
+ERROR OK
+WAIT_MODE DONE
+ERROR OK
+TELEOP_ENABLE OFF
+ERROR OK
+TIMEOUT 0.000000
+ERROR OK
+TOOL 0
+ERROR OK
+TOOL_OFFSET 0.000000
+ERROR OK
+UPDATE AUTO
+ERROR OK
+USER_ANGULAR_UNITS DEG
+ERROR OK
+USER_LINEAR_UNITS INCH
+ERROR OK
+COMM_MODE ASCII
+SET COMM_MODE ACK
+COMM_MODE ASCII
+ERROR OK
+COMM_PROT 1.0
+SET COMM_PROT ACK
+COMM_PROT 1.0
+ERROR OK
+GET ABORT NAK
+SET ABORT ACK
+GET ABORT NAK
+ERROR OK
+ANGULAR_UNIT_CONVERSION AUTO
+SET ANGULAR_UNIT_CONVERSION ACK
+ANGULAR_UNIT_CONVERSION DEG
+ERROR OK
+FEED_OVERRIDE 100.000000
+SET FEED_OVERRIDE ACK
+FEED_OVERRIDE 100.000000
+ERROR OK
+FLOOD OFF
+SET FLOOD ACK
+FLOOD ON
+ERROR OK
+GET JOG NAK
+SET JOG ACK
+GET JOG NAK
+ERROR OK
+GET JOG_INCR NAK
+SET JOG_INCR ACK
+GET JOG_INCR NAK
+ERROR OK
+GET JOG_STOP NAK
+SET JOG_STOP ACK
+GET JOG_STOP NAK
+ERROR OK
+LINEAR_UNIT_CONVERSION AUTO
+SET LINEAR_UNIT_CONVERSION ACK
+LINEAR_UNIT_CONVERSION MM
+ERROR OK
+MIST OFF
+SET MIST ACK
+MIST ON
+ERROR OK
+OPTIONAL_STOP 1
+SET OPTIONAL_STOP ACK
+OPTIONAL_STOP 1
+ERROR OK
+OVERRIDE_LIMITS 0
+SET OVERRIDE_LIMITS NAK
+OVERRIDE_LIMITS 0
+ERROR can't do that (EMC_JOINT_OVERRIDE_LIMITS:129) in MDI mode
+GET STEP NAK
+SET STEP NAK
+GET STEP NAK
+ERROR can't do that (EMC_TASK_PLAN_STEP:511) in MDI mode
+GET TASK_PLAN_INIT NAK
+SET TASK_PLAN_INIT ACK
+GET TASK_PLAN_INIT NAK
+ERROR OK
+TELEOP_ENABLE OFF
+SET TELEOP_ENABLE NAK
+TELEOP_ENABLE OFF
+ERROR OK
+TIMEOUT 0.000000
+SET TIMEOUT ACK
+TIMEOUT 10.000000
+ERROR OK
+TOOL_OFFSET 0.000000
+SET TOOL_OFFSET NAK
+TOOL_OFFSET 0.000000
+ERROR OK
+UPDATE AUTO
+SET UPDATE ACK
+UPDATE AUTO
+ERROR OK
+ERROR OK
+SET WAIT NAK
+ERROR OK
+ERROR OK
diff --git a/tests/linuxcncrsh/linuxcncrsh-test.ini b/tests/linuxcncrsh/linuxcncrsh-test.ini
index 3aa9cf519a5..608e90f6880 100644
--- a/tests/linuxcncrsh/linuxcncrsh-test.ini
+++ b/tests/linuxcncrsh/linuxcncrsh-test.ini
@@ -1,7 +1,7 @@
 [EMC]
 VERSION = 1.1
 DEBUG = 0x7FFFFFFF
-#DEBUG = 0
+RCS_DEBUG = 0xEF67FFFF
 
 [DISPLAY]
 DISPLAY = linuxcncrsh
diff --git a/tests/linuxcncrsh/skip b/tests/linuxcncrsh/skip
deleted file mode 100644
index e69de29bb2d..00000000000
diff --git a/tests/linuxcncrsh/test.sh b/tests/linuxcncrsh/test.sh
index b89ba2ad049..dc58afbcefc 100755
--- a/tests/linuxcncrsh/test.sh
+++ b/tests/linuxcncrsh/test.sh
@@ -25,30 +25,119 @@ if [  $TOGO -eq 0 ]; then
     exit 1
 fi
 
+# test set command by
+# - getting the key's old value before setting
+# - setting the new value
+# - getting the new value
+# - collect possible error from linuxcncsvr
+function testSet() {
+    # get before value
+    echo "get $1"
+    # set cmd
+    echo "set $@"
+    # get after value
+    echo "get $1"
+    # get error from server (or OK)
+    echo "get error"
+}
+
+# get command with collecting possible error from linuxcncsvr
+function testGet() {
+    cmd="$@"
+    echo "get $@"
+    echo "get error"
+}
 
 (
+    # initialize
     echo hello EMC mt 1.0
-    echo set enable EMCTOO
-    echo get enable
-    
+    testSet enable EMCTOO
+    testGet debug
+    testSet verbose on
+    testSet echo off
     # ask linuxcncrsh to not read the next command until it's done running
     # the current one
-    testSet wait_mode done
+    testSet set_wait done
+
+    # check default global settings
+    testGet plat
+    testGet update
+
+    # check default global settings
+    echo get plat
+
+    # test commands failing for machine not running
+    testSet mode mdi
 
-    echo set mode manual
-    echo get mode
+    # prepare machine
+    testSet estop off
+    testSet machine on
+    testSet mode manual
+
+    # test probing in manual mode
+    testSet mode mdi
+    testGet pos_offset
+    testGet probe_tripped
+    testGet probe_value
+    testGet probe_clear
+    testSet probe 0 0 0                    # <x> <y> <z>
+    testSet probe_clear
+
+    # test probing before homing
+    testSet probe 0 0 0                    # <x> <y> <z>
+    testSet probe_clear
+
+    # do homing
+    testSet home 0                         # <Axis No>
+    testSet home 1
+    testSet home 2
+    testSet home 3
+    testSet home 4
+    testSet home 5
+
+    # test probing
+    testSet probe 0 0 0                    # <x> <y> <z>
+    testSet probe_clear
+    testSet mode manual
 
     echo set estop off
     echo get estop
 
-    echo set machine on
-    echo get machine
+    # prepare machine
+    testSet estop off
+    testSet machine on
+    testSet mode manual
+
+    # test probing in manual mode
+    testSet mode mdi
+    testGet probe_tripped
+    testGet probe_value
+    testGet probe_clear
+
+    # test probing before homing
+    testSet probe 0 0 0                    # <x> <y> <z>
+    testSet probe_clear
+
+    # do homing
+    testSet mode manual
+    testSet home 0                         # <Axis No>
+    testSet home 1
+    testSet home 2
+    testSet home 3
+    testSet home 4
+    testSet home 5
+
+    # test probing
+    testSet mode mdi
+    testSet probe 0 0 0                    # <x> <y> <z>
+    testSet probe_clear
+    testSet mode manual
 
     # test spindle command
-    echo set spindle forward -1    # turn on all spindles
-    echo get spindle -1
-    echo set spindle off            # turn off all spindles
-    echo get spindle
+    testSet spindle forward                # turn on all w/o param
+    testSet spindle off -1                 # turn off all w/param
+    testGet spindle -1                     # check all w/param
+    testSet spindle forward 99             # turn on illegal spindle
 
     # test brake command
     testSet brake on                       # turn on all w/o param
@@ -64,14 +153,11 @@ fi
 
     # test g-code
     echo set mode mdi
-    echo get mode
-
     echo set mdi m100 p-1 q-2
     sleep 1
 
     # here comes a big blob
     dd bs=4096 if=lots-of-gcode
-
     echo set mdi m100 p-3 q-4
 
     # test misc. get commands
@@ -87,7 +173,7 @@ fi
     testGet feed_override
     testGet flood
     testGet joint_fault
-    #testGet joint_homed    currently doesn't block due to bug
+    testGet joint_homed
     testGet joint_limit
     testGet joint_pos
     testGet joint_type
@@ -99,7 +185,6 @@ fi
     testGet operator_text
     testGet optional_stop
     testGet override_limits
-    testGet pos_offset
     testGet program
     testGet program_angular_units
     testGet program_codes