diff --git a/invesalius/constants.py b/invesalius/constants.py
index 9278b6a..a20b1fe 100644
--- a/invesalius/constants.py
+++ b/invesalius/constants.py
@@ -858,3 +858,7 @@ ROBOT_ARC_THRESHOLD_DISTANCE = 100 #mm
 ROBOT_VERSOR_SCALE_FACTOR = 70
 #Robot Working Space is defined as 800mm in Elfin manual. For safety, the value is reduced by 5%.
 ROBOT_WORKING_SPACE = 760 #mm
+ROBOT_MOVE_STATE = {"free to move": 0,
+                    "in motion": 1009,
+                    "waiting for execution": 1013,
+                    "error": 1025}
diff --git a/invesalius/data/elfin.py b/invesalius/data/elfin.py
index 8fe34f4..eceda82 100644
--- a/invesalius/data/elfin.py
+++ b/invesalius/data/elfin.py
@@ -24,17 +24,19 @@ class Elfin_Server():
     def Run(self):
         return self.cobot.ReadPcsActualPos()
 
-    def SendCoordinates(self, target, type=const.ROBOT_MOTIONS["normal"]):
+    def SendCoordinates(self, target, motion_type=const.ROBOT_MOTIONS["normal"]):
         """
         It's not possible to send a move command to elfin if the robot is during a move.
          Status 1009 means robot in motion.
         """
         status = self.cobot.ReadMoveState()
-        if status != 1009:
-            if type == const.ROBOT_MOTIONS["normal"] or type == const.ROBOT_MOTIONS["linear out"]:
+        if status == const.ROBOT_MOVE_STATE["free to move"]:
+            if motion_type == const.ROBOT_MOTIONS["normal"] or motion_type == const.ROBOT_MOTIONS["linear out"]:
                 self.cobot.MoveL(target)
-            elif type == const.ROBOT_MOTIONS["arc"]:
+            elif motion_type == const.ROBOT_MOTIONS["arc"]:
                 self.cobot.MoveC(target)
+        elif status == const.ROBOT_MOVE_STATE["error"]:
+            self.StopRobot()
 
     def StopRobot(self):
         # Takes some microseconds to the robot actual stops after the command.
diff --git a/invesalius/navigation/robot.py b/invesalius/navigation/robot.py
index 33196a2..bf9ed80 100644
--- a/invesalius/navigation/robot.py
+++ b/invesalius/navigation/robot.py
@@ -277,6 +277,9 @@ class ControlRobot(threading.Thread):
 
             if not self.robot_target_queue.empty():
                 self.robot_tracker_flag, self.m_change_robot_to_head = self.robot_target_queue.get_nowait()
+                self.trck_init_robot.StopRobot()
+                self.arc_motion_flag = False
+                self.arc_motion_step_flag = const.ROBOT_MOTIONS["normal"]
                 self.robot_target_queue.task_done()
 
             if not self.object_at_target_queue.empty():
--
libgit2 0.21.2