diff --git a/AR4.py b/AR4.py
index 1affaee..1ffd9ee 100644
--- a/AR4.py
+++ b/AR4.py
@@ -1146,6 +1146,80 @@ def executeRow():
     else:
       displayPosition(response)  
 
+  ##Offs L Command## 
+  ## Linear offset
+  if (cmdType == "OFF L "):
+    if (moveInProc == 0):
+      moveInProc == 1
+    
+    SPnewInex = command.find("[ PR: ")  
+    SPendInex = command.find(" ] [")
+    xIndex = command.find(" X ")
+    yIndex = command.find(" Y ")
+    zIndex = command.find(" Z ")
+    rzIndex = command.find(" Rz ")
+    ryIndex = command.find(" Ry ")
+    rxIndex = command.find(" Rx ")
+    J7Index = command.find(" J7 ")
+    J8Index = command.find(" J8 ")
+    J9Index = command.find(" J9 ")
+    SpeedIndex = command.find(" S")
+    ACCspdIndex = command.find(" Ac ")
+    DECspdIndex = command.find(" Dc ")
+    ACCrampIndex = command.find(" Rm ")
+
+    RoundingIndex = command.find(" Rnd ")
+
+    WristConfIndex = command.find(" $")
+
+    SP = str(command[SPnewInex+6:SPendInex])
+    cx = eval("SP_"+SP+"_E1_EntryField").get()
+    cy = eval("SP_"+SP+"_E2_EntryField").get()
+    cz = eval("SP_"+SP+"_E3_EntryField").get()
+    crz = eval("SP_"+SP+"_E4_EntryField").get()
+    cry = eval("SP_"+SP+"_E5_EntryField").get()
+    crx = eval("SP_"+SP+"_E6_EntryField").get()
+    xVal = str(float(cx) + float(command[xIndex+3:yIndex]))
+    yVal = str(float(cy) + float(command[yIndex+3:zIndex]))
+    zVal = str(float(cz) + float(command[zIndex+3:rzIndex]))
+    rzVal = str(float(crz) + float(command[rzIndex+4:ryIndex]))
+    ryVal = str(float(cry) + float(command[ryIndex+4:rxIndex]))
+    rxVal = str(float(crx) + float(command[rxIndex+4:J7Index]))
+    J7Val = command[J7Index+4:J8Index]
+    J8Val = command[J8Index+4:J9Index]
+    J9Val = command[J9Index+4:SpeedIndex]
+    speedPrefix = command[SpeedIndex+1:SpeedIndex+3]
+    Speed = command[SpeedIndex+4:ACCspdIndex]
+    ACCspd = command[ACCspdIndex+4:DECspdIndex]
+    DECspd = command[DECspdIndex+4:ACCrampIndex]
+
+    ACCramp = command[ACCrampIndex+4:RoundingIndex]
+    Rounding = command[RoundingIndex+5:WristConfIndex]
+
+    WC = command[WristConfIndex+3:]
+    LoopMode = str(J1OpenLoopStat.get())+str(J2OpenLoopStat.get())+str(J3OpenLoopStat.get())+str(J4OpenLoopStat.get())+str(J5OpenLoopStat.get())+str(J6OpenLoopStat.get())
+    DisWrist = str(DisableWristRot.get())
+    command = "ML"+"X"+xVal+"Y"+yVal+"Z"+zVal+"Rz"+rzVal+"Ry"+ryVal+"Rx"+rxVal+"J7"+J7Val+"J8"+J8Val+"J9"+J9Val+speedPrefix+Speed+"Ac"+ACCspd+"Dc"+DECspd+"Rm"+ACCramp+"Rnd"+Rounding+"W"+WC+"Lm"+LoopMode+"Q"+DisWrist+"\n"
+    
+    #tab8.ElogView.insert(END, command)
+    #value=tab8.ElogView.get(0,END)
+    #pickle.dump(value,open("ErrorLog","wb"))
+    start = time.time()
+    cmdSentEntryField.delete(0, 'end')
+    cmdSentEntryField.insert(0,command)
+    ser.write(command.encode())
+    ser.flushInput()
+    time.sleep(.1)
+    response = str(ser.readline().strip(),'utf-8')
+    end = time.time()
+    #manEntryField.delete(0, 'end')
+    #manEntryField.insert(0,end-start)  
+
+    if (response[:1] == 'E'):
+      ErrorHandler(response)   
+    else:
+      displayPosition(response)
+
   ##Move Vis Command##  
   if (cmdType == "Move V"): 
     if (moveInProc == 0):
@@ -4140,6 +4214,19 @@ def teachInsertBelSelected():
         f.write(str(item.strip(), encoding='utf-8'))
         f.write('\n')
       f.close()
+  elif(movetype == "OFF L"):
+    movetype = movetype+" [ PR: "+str(SavePosEntryField.get())+" ]"
+    newPos = movetype + " [*] X "+XcurPos+" Y "+YcurPos+" Z "+ZcurPos+" Rz "+RzcurPos+" Ry "+RycurPos+" Rx "+RxcurPos+" J7 "+str(J7PosCur)+" J8 "+str(J8PosCur)+" J9 "+str(J9PosCur)+" "+speedPrefix+" "+Speed+" Ac "+ACCspd+ " Dc "+DECspd+" Rm "+ACCramp+" Rnd "+Rounding+" $ "+WC 
+    tab1.progView.insert(selRow, bytes(newPos + '\n', 'utf-8')) 
+    tab1.progView.selection_clear(0, END)
+    tab1.progView.select_set(selRow)
+    items = tab1.progView.get(0,END)
+    file_path = path.relpath(ProgEntryField.get())
+    with open(file_path,'w', encoding='utf-8') as f:
+      for item in items:
+        f.write(str(item.strip(), encoding='utf-8'))
+        f.write('\n')
+      f.close()
   elif(movetype == "Move R"):
     newPos = movetype + " [*] J1 "+J1AngCur+" J2 "+J2AngCur+" J3 "+J3AngCur+" J4 "+J4AngCur+" J5 "+J5AngCur+" J6 "+J6AngCur+" J7 "+str(J7PosCur)+" J8 "+str(J8PosCur)+" J9 "+str(J9PosCur)+" "+speedPrefix+" "+Speed+" Ac "+ACCspd+ " Dc "+DECspd+" Rm "+ACCramp+" $ "+WC            
     tab1.progView.insert(selRow, bytes(newPos + '\n', 'utf-8')) 
@@ -8954,7 +9041,7 @@ speedMenu.place(x=412, y=76)
 #single buttons
 
 options=StringVar(tab1)
-menu=OptionMenu(tab1, options, "Move J", "Move J", "OFF J", "Move L", "Move R", "Move A Mid", "Move A End", "Move C Center", "Move C Start", "Move C Plane", "Start Spline", "End Spline", "Move PR", "OFF PR ", "Teach PR", "Move Vis", command=posRegFieldVisible)
+menu=OptionMenu(tab1, options, "Move J", "Move J", "OFF J", "Move L", "OFF L", "Move R", "Move A Mid", "Move A End", "Move C Center", "Move C Start", "Move C Plane", "Start Spline", "End Spline", "Move PR", "OFF PR ", "Teach PR", "Move Vis", command=posRegFieldVisible)
 menu.grid(row=2,column=2)
 menu.config(width=18)
 menu.place(x=700, y=180)