diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py
index cd234dc..1c899a1 100644
--- a/Massage/MassageControl/MassageRobot_nova5.py
+++ b/Massage/MassageControl/MassageRobot_nova5.py
@@ -114,7 +114,7 @@ class MassageRobot:
         self.arm_config = read_yaml(arm_config_path)
         # arm 实例化时机械臂类内部进行通讯连接
         self.arm = dobot_nova5(arm_ip = self.arm_config['arm_ip'])
-        self.arm.start()
+        # self.arm.start()
         self.arm.init()
 
         self.thermotherapy = None
diff --git a/Massage/MassageControl/hardware/dobot_nova5.py b/Massage/MassageControl/hardware/dobot_nova5.py
index 2b6ee31..cec089b 100644
--- a/Massage/MassageControl/hardware/dobot_nova5.py
+++ b/Massage/MassageControl/hardware/dobot_nova5.py
@@ -76,7 +76,7 @@ class dobot_nova5:
                 self.ToolValue = -1
                 '''
         self.feedbackData = feedbackItem() # 自定义反馈数据结构体
-        self.logger = CustomLogger('Dobot_nova5',True)
+        self.logger = CustomLogger('Dobot_nova5')
         self.dashboard = DobotApiDashboard(self.ip,self.dashboardPort)
         self.feedFour = DobotApiFeedBack(self.ip,self.feedFourPort)
 
@@ -95,9 +95,9 @@ class dobot_nova5:
             if self.feedbackData.robotMode != -1:
                 self.dashboard.EmergencyStop(mode=0) # 松开急停
                 self.clearError() # 清除报警
-                stopId = self.dashboard.Stop()
+                # stopId = self.dashboard.Stop()
                 time.sleep(0.5)
-                if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4) and self.parseResultId(stopId)[0] == 0:
+                if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0:
                     self.dashboard.RequestControl()
                     if self.feedbackData.robotMode == 3:
                         self.dashboard.PowerOn() # 复位
@@ -110,7 +110,7 @@ class dobot_nova5:
                         cnt_num += 1
                         time.sleep(1)
                 else:
-                    if self.feedbackData.robotMode == 9 and self.parseResultId(stopId)[0] == -3:
+                    if self.feedbackData.robotMode == 9:# and self.parseResultId(stopId)[0] == -3:
                         print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式"))
 
                         requests.post(
@@ -126,6 +126,7 @@ class dobot_nova5:
                         sys.exit(0)
                     self.disableRobot()
                     self.clearError() # 清除报警
+                    cnt_num += 1
                     time.sleep(1)
 
             else:
@@ -136,7 +137,7 @@ class dobot_nova5:
 
     def exit_task(self):
         self.logger.log_yellow("退出任务")
-        self.disable_servo()
+        # self.disable()
         instruction = {
             "is_massaging": False,
             "massage_service_started": False
@@ -184,6 +185,7 @@ class dobot_nova5:
         max_try = 3  # 尝试次数
         cnt = 0  # 尝试次数计数
         while cnt < max_try:
+            cnt += 1
             # 关闭碰撞检测
             if self.parseResultId(self.dashboard.SetCollisionLevel(level=0))[0] == 0:
                 time.sleep(0.1)