diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 6023ff1..16c2733 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -379,7 +379,7 @@ class RobotTCP(TcpDevice, Stoppable):
 
     #High-level, exclusive motion task.
     def start_task(self, program, *args,  **kwargs):
-        for task in HIGH_LEVEL_TASKS:
+        for task in (self.high_level_tasks + program):
             if self.get_task_status(task)>=0:
                 raise Exception("Cannot start program - ongoing high-level task: " + task)
         self.current_task = program