diff --git a/conception/th_manageRobot.txt b/conception/th_manageRobot.txt
index 0340b20..6c908d3 100644
--- a/conception/th_manageRobot.txt
+++ b/conception/th_manageRobot.txt
@@ -1,24 +1,31 @@
-@startuml
-skinparam monochrome true
-start
-while ()
-	:startRobot?;
-	
-	if (watchdogMode) then (WITH_WATCHDOG)
-		:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
-	else (WITHOUT_WATCHDOG)
-		:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
-	endif
-	
-	if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
-		:robotStarted = true;
-	endif
-	
-	:messageToMon!msgSend;
-	
-	:stopRobot?
-	:ordre = STOP_MOVE;
-	
-endwhile
-stop
-@enduml
+    @startuml
+    skinparam monochrome true
+    start
+	  
+
+    while ()
+    	:startRobot?;
+    	:err = robot.Open();
+	    if (err) then (robot_ok)
+		    :msgSend = new Message(MESSAGE_ANSWER_ACK);
+	      :messageToMon!msgSend;
+    	  if (watchdogMode) then (WITH_WATCHDOG)
+    		  :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
+    	  else (WITHOUT_WATCHDOG)
+    		  :msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITHOUT_WD));
+    	  endif
+    	  :messageToMon!msgSend;
+    	  if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
+    		  :robotStarted = true;
+    	    :stopRobot?;
+    	    :robot.Write(new Message(MESSAGE_ROBOT_STOP));
+	        :robot.Close();
+        endif
+      else
+		    :msgSend = new Message(MESSAGE_ANSWER_NACK);
+	      :messageToMon!msgSend;
+	    endif
+    	
+    endwhile
+    stop
+    @enduml
\ No newline at end of file