diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 9c2c79b..22f10da 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -400,7 +400,11 @@ class RobotTCP(TcpDevice, Stoppable):
             if self.get_task_status(task)[0]>=0:
                 raise Exception("Ongoing high-level task: " + task)        
         self.task_create(program, *args, **kwargs)
-        time.sleep(0.5) #get_task_status needs time
+        start = time.time()
+        while self.get_task_status(program)[0] < 0:
+            if time.time() - start > 3000:
+                raise Exception("Cannot start task " + task)
+            time.sleep(0.1)        
         self.current_task = program
         
     def stop_task(self):