diff --git a/config/plugins.properties b/config/plugins.properties
index 0014b44..1568671 100644
--- a/config/plugins.properties
+++ b/config/plugins.properties
@@ -1,3 +1,5 @@
+Commands.java=disabled
+Recovery.java=disabled
 MXSC-1.10.0.jar=enabled
 WagoPanel.java=enabled
 LaserUEPanel.java=enabled
@@ -5,11 +7,9 @@ BarcodeReaderPanel.java=enabled
 PuckDetectionPanel.java=enabled
 HexiposiPanel.java=enabled
 MjpegSource2.java=enabled
-LN2.java=enabled
+LN2.java=disabled
 Hexiposi.java=disabled
 NewJPanel.java=disabled
-Expert.java=disabled
-RecoveryPanel.java=disabled
 RobotPanel.java=enabled
 SmartMagnetConfig.java=disabled
 SmartMagnetPanel.java=enabled
diff --git a/plugins/MXSC-1.10.0.jar b/plugins/MXSC-1.10.0.jar
index 3f40c45..96ce440 100644
Binary files a/plugins/MXSC-1.10.0.jar and b/plugins/MXSC-1.10.0.jar differ
diff --git a/plugins/MXSC-1.10.0.jar.back b/plugins/MXSC-1.10.0.jar.back
new file mode 100644
index 0000000..3f40c45
Binary files /dev/null and b/plugins/MXSC-1.10.0.jar.back differ
diff --git a/script/local.py b/script/local.py
index d1f3a45..3ad6711 100644
--- a/script/local.py
+++ b/script/local.py
@@ -90,9 +90,11 @@ def system_check(robot_move=True):
     if robot_move:
         if not feedback_local_safety.read():
             raise Exception("Local safety not released")
-        if not feedback_psys_safety.read():
-            raise Exception("Psys safety not released")
-        if not guiding_tool_park().read():
+        auto = not is_manual_mode()
+        if auto:
+            if not feedback_psys_safety.read():
+                raise Exception("Psys safety not released")
+        if not guiding_tool_park.read():
             raise Exception("Guiding tool not parked")
         
 def get_puck_elect_detection(segment, puck):
diff --git a/script/motion/tools.py b/script/motion/tools.py
index 148c54e..2cc47d5 100644
--- a/script/motion/tools.py
+++ b/script/motion/tools.py
@@ -33,7 +33,8 @@ def enable_motion():
     """
     Check safety and enable arm power if in remote mode
     """
-    release_safety()    
+    release_safety()  
+    system_check(robot_move=True)  
     auto = not is_manual_mode()        
     if auto:
         if not robot.state.isNormal():
diff --git a/script/test/cycle_time b/script/test/cycle_time
new file mode 100644
index 0000000..79c790e
--- /dev/null
+++ b/script/test/cycle_time
@@ -0,0 +1,4 @@
+start =time.time()
+unmount('A',2,5, force=True)
+mount('A',2,5, force=True, read_dm=False)
+print time.time()-start
\ No newline at end of file