diff --git a/LinTasks.c b/LinTasks.c
index ff04178..a1a5403 100644
--- a/LinTasks.c
+++ b/LinTasks.c
@@ -127,6 +127,8 @@ lin_event_id_t DFR_PRG_x(tLinIO *linIo, tLinData *linData,
 
         res = SEND_ACTUATOR_COM_x(linIo, DFR_PRG);
 
+        SystemDelayMs(50);
+
         if (res == LIN_TX_COMPLETED) {
             break;
         }
@@ -607,14 +609,36 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
 
 
                     uint8_t BUS_ADR;
+                    uint8_t BUS_NEW_ADR;
+                    uint8_t NOTL_DREH_Master;
+                    uint8_t NOTL_ENAB_Master;
+                    uint8_t DREH_Slave;
+                    uint8_t ParitySlave;
+                    uint8_t Version_CFR;
+
                     ret = RFR_PRG_x(env->linIo, env->linData,
                                     &BUS_ADR,
-                                    &env->linStateActuator[i].BUS_NEW_ADR,
-                                    &env->linStateActuator[i].NOTL_DREH_Master,
-                                    &env->linStateActuator[i].NOTL_ENAB_Master,
-                                    &env->linStateActuator[i].DREH_Slave,
-                                    &env->linStateActuator[i].ParitySlave,
-                                    &env->linStateActuator[i].Version_CFR);
+                                    &BUS_NEW_ADR,
+                                    &NOTL_DREH_Master,
+                                    &NOTL_ENAB_Master,
+                                    &DREH_Slave,
+                                    &ParitySlave,
+                                    &Version_CFR);
+
+                    if (BUS_ADR != i) {
+                        asm("nop");
+                    }
+
+                    if (BUS_ADR < LIN0_ISSR_ALL) {
+                        env->linStateActuator[BUS_ADR].BUS_NEW_ADR = BUS_NEW_ADR;
+                        env->linStateActuator[BUS_ADR].NOTL_DREH_Master = NOTL_DREH_Master;
+                        env->linStateActuator[BUS_ADR].NOTL_ENAB_Master = NOTL_ENAB_Master;
+                        env->linStateActuator[BUS_ADR].DREH_Slave = DREH_Slave;
+                        env->linStateActuator[BUS_ADR].ParitySlave = ParitySlave;
+                        env->linStateActuator[BUS_ADR].Version_CFR = Version_CFR;
+                    } else {
+                        asm("nop");
+                    }
 
                     if (ret == LIN_TX_COMPLETED) {
 
@@ -636,6 +660,7 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
     lin_event_id_t res;
 
     for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
+
         res = ISSR_x(env->linIo, env->linData,
                      i,
                      &env->linStateActuator[i].BLOCK_MT,
@@ -647,17 +672,45 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
         if (ret == LIN_TX_COMPLETED) {
 
             uint8_t BUS_ADR;
+            uint16_t CPOS_ALL;
+            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,
                             &BUS_ADR,
-                            &env->linStateActuator[i].CPOS_ALL,
-                            &env->linStateActuator[i].Emrf_Slave,
-                            &env->linStateActuator[i].Mode_Slave,
-                            &env->linStateActuator[i].Error1_Supply_Slave,
-                            &env->linStateActuator[i].Error2_Communication_Slave,
-                            &env->linStateActuator[i].Error3_Temperature_Slave,
-                            &env->linStateActuator[i].Error4_Permanent_Electrical_Slave,
-                            &env->linStateActuator[i].Stall_Slave,
-                            &env->linStateActuator[i].Reset_Slave);
+                            &CPOS_ALL,
+                            &Emrf_Slave,
+                            &Mode_Slave,
+                            &Error1_Supply_Slave,
+                            &Error2_Communication_Slave,
+                            &Error3_Temperature_Slave,
+                            &Error4_Permanent_Electrical_Slave,
+                            &Stall_Slave,
+                            &Reset_Slave);
+
+            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");
+            }
 
             if (ret == LIN_RX_COMPLETED) {
 
@@ -677,12 +730,14 @@ lin_event_id_t Lin0_Scheduler(tLinTaskActuator *env) {
         return ret;
     }
 
+    return LIN_NO_EVENT;
 }
 
 static _Noreturn void Lin0_Thread(tLinTaskActuator *env) {
     for (;;) {
         if (osMutexAcquire(env->access, 100) == osOK) {
-            Lin0_Scheduler(env);
+            lin_event_id_t res = Lin0_Scheduler(env);
+            env->errorConnect = res;
             osMutexRelease(env->access);
         }