diff --git a/LinTasks.c b/LinTasks.c
index 6272640..7a32a20 100644
--- a/LinTasks.c
+++ b/LinTasks.c
@@ -541,9 +541,13 @@ static bool setState20(tLinTaskActuator *env, bool isError, uint8_t index) {
         env->linStateActuator[index].error_connect = 0;
     }
 
+    env->linCommandActuator[index].isRFR_STA = 1;
+
     if (env->linCommandActuator[index].BUS_ADR == 0x20) {
         for (uint8_t j = 0; j < LIN0_ISSR_ALL; ++j) {
+
             env->linCommandActuator[j].COM = LIN_ACT_CFR_NONE;
+            env->linCommandActuator[j].isRFR_STA = 1;
 
             if (isError) {
                 env->linStateActuator[j].error_connect = 1;
@@ -564,8 +568,6 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
 
     for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
 
-        env->linCommandActuator[i].isRFR_STA = 1;
-
         if (env->linCommandActuator[i].COM == LIN_ACT_CFR_MOD) {
 
             ret = CFR_MOD_x(env->linIo, env->linData, env->linCommandActuator[i].BUS_ADR,
@@ -573,22 +575,14 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
 
             if (ret == LIN_TX_COMPLETED) {
 
-                if (env->linCommandActuator[i].BUS_ADR == 0x20) {
-
-                    for (uint8_t j = 0; j < LIN0_ISSR_ALL; ++j) {
-                        env->linCommandActuator[j].isRFR_STA = 1;
-                    }
-
-                }
+                if (setState20(env, false, i))
+                    break;
 
             } else {
                 if (setState20(env, true, i))
                     break;
             }
 
-            if (setState20(env, false, i))
-                break;
-
         }
 
     }
@@ -602,13 +596,13 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
                             env->linCommandActuator[i].POS);
 
             if (ret == LIN_TX_COMPLETED) {
+                if (setState20(env, false, i))
+                    break;
             } else {
                 if (setState20(env, true, i))
                     break;
             }
 
-            if (setState20(env, false, i))
-                break;
 
         }
     }
@@ -627,95 +621,95 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
                             env->linCommandActuator[i].Coils_Stop_SET);
 
             if (ret == LIN_TX_COMPLETED) {
+                if (setState20(env, false, i))
+                    break;
             } else {
                 if (setState20(env, true, i))
                     break;
             }
 
-            if (setState20(env, false, i))
-                break;
-
         }
     }
 
 
     for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
 
-        uint8_t BLOCK_MT;
-        uint8_t DIAGNOSE_MT;
+//        uint8_t BLOCK_MT;
+//        uint8_t DIAGNOSE_MT;
         uint16_t CPOS_ALL;
 
-        ret = ISSR_x(env->linIo, env->linData,
-                     i,
-                     &BLOCK_MT,
-                     &CPOS_ALL,
-                     &DIAGNOSE_MT);
+//        ret = ISSR_x(env->linIo, env->linData,
+//                     i,
+//                     &BLOCK_MT,
+//                     &CPOS_ALL,
+//                     &DIAGNOSE_MT);
 
-        if (ret == LIN_RX_COMPLETED) {
+//        if (ret == LIN_RX_COMPLETED) {
 
-            env->linStateActuator[i].BLOCK_MT = BLOCK_MT;
-            env->linStateActuator[i].CPOS_ALL = CPOS_ALL << 1;
-            env->linStateActuator[i].DIAGNOSE_MT = DIAGNOSE_MT;
+//            env->linStateActuator[i].BLOCK_MT = BLOCK_MT;
+//            env->linStateActuator[i].CPOS_ALL = CPOS_ALL << 1;
+//            env->linStateActuator[i].DIAGNOSE_MT = DIAGNOSE_MT;
 
-            if ((env->linStateActuator[i].DIAGNOSE_MT) || (env->linCommandActuator[i].isRFR_STA)) {
+//        if ((env->linStateActuator[i].DIAGNOSE_MT) || (env->linCommandActuator[i].isRFR_STA)) {
+        if ((env->linCommandActuator[i].COM == LIN_ACT_CFR_NONE) || (env->linCommandActuator[i].isRFR_STA)) {
 
-                env->linCommandActuator[i].isRFR_STA = 0;
+            env->linCommandActuator[i].isRFR_STA = 0;
 
-                uint8_t BUS_ADR;
-                eEmrf_Slave_STA Emrf_Slave;
-                eMode_Mod Mode_Slave;
-                uint8_t Error1_Supply_Slave;
-                uint8_t Error2_Communication_Slave;
-                uint8_t Error3_Temperature_Slave;
-                uint8_t Error4_Permanent_Electrical_Slave;
-                eStall_STA Stall_Slave;
-                eReset_STA Reset_Slave;
+            uint8_t BUS_ADR;
+            eEmrf_Slave_STA Emrf_Slave;
+            eMode_Mod Mode_Slave;
+            uint8_t Error1_Supply_Slave;
+            uint8_t Error2_Communication_Slave;
+            uint8_t Error3_Temperature_Slave;
+            uint8_t Error4_Permanent_Electrical_Slave;
+            eStall_STA Stall_Slave;
+            eReset_STA Reset_Slave;
 
-                ret = RFR_STA_x(env->linIo, env->linData, i | 0x20,
-                                &BUS_ADR,
-                                &CPOS_ALL,
-                                &Emrf_Slave,
-                                &Mode_Slave,
-                                &Error1_Supply_Slave,
-                                &Error2_Communication_Slave,
-                                &Error3_Temperature_Slave,
-                                &Error4_Permanent_Electrical_Slave,
-                                &Stall_Slave,
-                                &Reset_Slave);
+            ret = RFR_STA_x(env->linIo, env->linData, i | 0x20,
+                            &BUS_ADR,
+                            &CPOS_ALL,
+                            &Emrf_Slave,
+                            &Mode_Slave,
+                            &Error1_Supply_Slave,
+                            &Error2_Communication_Slave,
+                            &Error3_Temperature_Slave,
+                            &Error4_Permanent_Electrical_Slave,
+                            &Stall_Slave,
+                            &Reset_Slave);
 
-                if (ret == LIN_RX_COMPLETED) {
+            if (ret == LIN_RX_COMPLETED) {
 
-                    BUS_ADR &= 0x1F;
-
-                    if (BUS_ADR != i) {
-                        asm("nop");
-                    }
-
-                    if (BUS_ADR < LIN0_ISSR_ALL) {
-                        env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
-                        env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
-                        env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
-                        env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
-                        env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
-                        env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
-                        env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
-                        env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
-                        env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
-                    } else {
-                        asm("nop");
-                    }
+                BUS_ADR &= 0x1F;
 
+                if (BUS_ADR != i) {
+                    asm("nop");
+                }
 
+                if (BUS_ADR < LIN0_ISSR_ALL) {
+                    env->linStateActuator[BUS_ADR].CPOS_ALL = CPOS_ALL;
+                    env->linStateActuator[BUS_ADR].Emrf_Slave = Emrf_Slave;
+                    env->linStateActuator[BUS_ADR].Mode_Slave = Mode_Slave;
+                    env->linStateActuator[BUS_ADR].Error1_Supply_Slave = Error1_Supply_Slave;
+                    env->linStateActuator[BUS_ADR].Error2_Communication_Slave = Error2_Communication_Slave;
+                    env->linStateActuator[BUS_ADR].Error3_Temperature_Slave = Error3_Temperature_Slave;
+                    env->linStateActuator[BUS_ADR].Error4_Permanent_Electrical_Slave = Error4_Permanent_Electrical_Slave;
+                    env->linStateActuator[BUS_ADR].Stall_Slave = Stall_Slave;
+                    env->linStateActuator[BUS_ADR].Reset_Slave = Reset_Slave;
                 } else {
-                    env->linStateActuator[i].error_connect = 1;
+                    asm("nop");
                 }
 
 
+            } else {
+                env->linStateActuator[i].error_connect = 1;
             }
 
-        } else {
-            env->linStateActuator[i].error_connect = 1;
+
         }
+
+//        } else {
+//            env->linStateActuator[i].error_connect = 1;
+//        }
     }
 
     if ((ret == LIN_TX_COMPLETED) || (ret == LIN_RX_COMPLETED)) {
@@ -727,6 +721,19 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
     return LIN_NO_EVENT;
 }
 
+static void isEnterCommand(tLinTaskActuator *env) {
+
+    for (uint8_t j = 0; j < 5; ++j) {
+        for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
+            if (env->linCommandActuator[i].COM != LIN_ACT_CFR_NONE) {
+                return;
+            }
+        }
+        SystemDelayMs(100);
+    }
+
+}
+
 static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
     for (;;) {
 
@@ -748,7 +755,7 @@ static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
             osMutexRelease(env->access);
         }
 
-        SystemDelayMs(100);
+        isEnterCommand(env);
     }
 }
 
diff --git a/LinTasks.h b/LinTasks.h
index 6a3027b..7add588 100644
--- a/LinTasks.h
+++ b/LinTasks.h
@@ -6,8 +6,10 @@
 #define HVAC_LIN_TASKS_H
 
 #include <cmsis_os.h>
+#include "stdbool.h"
 #include "LinIO.h"
 
+
 typedef struct __attribute__ ((packed)) {
     uint8_t BUS_ADR;
     uint16_t INI_CPOS: 15;