diff --git a/cm700reader.py b/cm700reader.py
index 925f197..598d885 100644
--- a/cm700reader.py
+++ b/cm700reader.py
@@ -138,22 +138,23 @@
 
     # CSVファイルに保存
     @staticmethod
-    def save_csv(data, header):
+    def save_csv(data, header, filename=""):
         # 保存ファイル名の生成
-        datestr = datetime.datetime.now().strftime("%m%d")
-        filename = ""
-        for i in range(2, 6):
-            for ab in ["a", "b"]:
-                fn = f"tcc6-{i}_{datestr}{ab}.csv"
-                if (filename == "") and (not os.path.exists(fn)):
-                    filename = fn
-        infn = input(f"csv保存ファイル名( '{filename}' はenter, 'q'で保存しない) >")
-        if infn == "q":
-            return
-        if len(infn) > 0:
-            filename = infn
-        if len(filename) < 1:
-            return
+        if filename == "":
+            datestr = datetime.datetime.now().strftime("%m%d")
+            filename = ""
+            for i in range(2, 6):
+                for ab in ["a", "b"]:
+                    fn = f"tcc6-{i}_{datestr}{ab}.csv"
+                    if (filename == "") and (not os.path.exists(fn)):
+                        filename = fn
+            infn = input(f"csv保存ファイル名( '{filename}' はenter, 'q'で保存しない) >")
+            if infn == "q":
+                return
+            if len(infn) > 0:
+                filename = infn
+            if len(filename) < 1:
+                return
 
         # csv保存
         np.savetxt(
@@ -214,26 +215,48 @@
             self.save_csv(data, header)
 
     # Dobotを使った計測
-    def dobot_measurement(self):
-        self.mesuring_condition()
+    def dobot_measurement(self, filename=""):
+        if filename == "":
+            self.mesuring_condition()
 
         self.dobot = DobotMeasurer()
         self.move_next(0)  # Move to the first position
 
         data = []
         num_samples = len(config.CC_XY)
-        # num_samples = 3
+        num_samples = 3
         for i in range(num_samples):
             print("\r", "%3d/%3d" % (i + 1, num_samples), end="")
             self.measurement(data, i + 1 if i < num_samples - 1 else -1)
-        winsound.Beep(800, 1000)
+        if filename == "":
+            winsound.Beep(800, 1000)
         self.dobot.up(wait=True)
 
         self.dobot = None  # Close the Dobot connection
 
         if len(data) > 0:
             header = "no,X,Y,Z,L*,a*,b*," + (",".join(map(str, self.wl)))
-            self.save_csv(data, header)
+            self.save_csv(data, header, filename)
+
+    # Dobotを使った繰り返し計測
+    def repeat_dobot(self):
+        self.mesuring_condition()
+
+        num_samples = int(input("測定回数>"))
+        interval_min = float(input("間隔(分)>"))
+
+        for i in range(num_samples):
+            start_time = time.time()
+            datestr = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+            print(f"\nDobot計測開始 {i + 1}/{num_samples} {datestr}")
+            self.dobot_measurement(f"dobot_{i + 1}_{datestr}.csv")
+            datestr = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
+            print(f"Dobot計測終了 {i + 1}/{num_samples} {datestr}")
+
+            wait_sec = start_time + interval_min * 60 - time.time()
+            if i < num_samples - 1 and wait_sec > 0:
+                print(f"次の計測まで{wait_sec // 60}分待機します")
+                time.sleep(wait_sec)
 
     # Dobotを使って次の位置へ移動
     def move_next(self, idx):
@@ -318,7 +341,8 @@
         print("2. 一部の本体データを取得")
         print("3. 手動計測")
         print("4. インターバル計測")
-        print("5. Dobot制御計測")
+        print("5. Dobot制御 単回計測")
+        print("6. Dobot制御 繰り返し計測")
 
         print("0. 終了")
         n = input("選択>")
@@ -332,6 +356,8 @@
             cm700d.interval_measurement()
         elif n == "5":
             cm700d.dobot_measurement()
+        elif n == "6":
+            cm700d.repeat_dobot()
         else:
             break