diff --git a/src/hal/tmc2130.h b/src/hal/tmc2130.h
index f78ede8..68af305 100644
--- a/src/hal/tmc2130.h
+++ b/src/hal/tmc2130.h
@@ -45,6 +45,7 @@ struct __attribute__((packed)) ErrorFlags {
         , s2g(0)
         , otpw(0)
         , ot(0) {}
+    inline bool Good() const { return reset_flag == 0 && uv_cp == 0 && s2g == 0 && otpw == 0 && ot == 0; }
 };
 
 /// TMC2130 interface - instances of this class are hidden in modules::motion::Motion::AxisData
diff --git a/src/modules/idler.cpp b/src/modules/idler.cpp
index c27c0a7..23aece3 100644
--- a/src/modules/idler.cpp
+++ b/src/modules/idler.cpp
@@ -51,10 +51,7 @@ bool Idler::Home() {
 bool Idler::Step() {
     switch (state) {
     case Moving:
-        if (mm::motion.QueueEmpty(mm::Idler)) {
-            // move finished
-            state = Ready;
-        }
+        PerformMove(mm::Idler);
         return false;
     case Ready:
         currentlyEngaged = plannedEngage;
diff --git a/src/modules/movable_base.cpp b/src/modules/movable_base.cpp
index 8450827..52d8378 100644
--- a/src/modules/movable_base.cpp
+++ b/src/modules/movable_base.cpp
@@ -15,5 +15,15 @@ MovableBase::OperationResult MovableBase::InitMovement(config::Axis axis) {
     }
 }
 
+void MovableBase::PerformMove(config::Axis axis) {
+    if (!mm::motion.DriverForAxis(axis).GetErrorFlags().Good()) {
+        // TMC2130 entered some error state, the planned move couldn't have been finished - result of operation is Failed
+        state = Failed;
+    } else if (mm::motion.QueueEmpty(axis)) {
+        // move finished
+        state = Ready;
+    }
+}
+
 } // namespace motion
 } // namespace modules
diff --git a/src/modules/movable_base.h b/src/modules/movable_base.h
index 12033ea..d02d9ca 100644
--- a/src/modules/movable_base.h
+++ b/src/modules/movable_base.h
@@ -50,6 +50,8 @@ protected:
     virtual void PrepareMoveToPlannedSlot() = 0;
 
     OperationResult InitMovement(config::Axis axis);
+
+    void PerformMove(config::Axis axis);
 };
 
 } // namespace motion
diff --git a/src/modules/selector.cpp b/src/modules/selector.cpp
index 9cb77b0..edd035d 100644
--- a/src/modules/selector.cpp
+++ b/src/modules/selector.cpp
@@ -36,10 +36,7 @@ bool Selector::Home() {
 bool Selector::Step() {
     switch (state) {
     case Moving:
-        if (mm::motion.QueueEmpty(mm::Selector)) {
-            // move finished
-            state = Ready;
-        }
+        PerformMove(mm::Selector);
         return false;
     case Ready:
         currentSlot = plannedSlot;