diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index d8a8911..47795d9 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -402,14 +402,13 @@ class RobotTCP(TcpDevice, Stoppable):
         time.sleep(0.5) #get_task_status needs time
         
     def stop_task(self):
-        #tasks = [t for t in self.high_level_tasks]
-        tasks = []
+        tasks = [t for t in self.high_level_tasks]
         if (self.current_task is not None) and (not self.current_task in tasks): 
             tasks.append(self.current_task)
         for task in tasks:
-            time.sleep(0.2)
+            time.sleep(0.5)
             if self.get_task_status(task)[0]>=0:                
-                time.sleep(0.2)
+                time.sleep(0.5)
                 self.task_kill(task)                
 
     def get_task(self):