diff --git a/src/logic/command_base.cpp b/src/logic/command_base.cpp
index 5c27c62..f870f50 100644
--- a/src/logic/command_base.cpp
+++ b/src/logic/command_base.cpp
@@ -189,15 +189,17 @@ bool CommandBase::CheckToolIndex(uint8_t index) {
 void CommandBase::ErrDisengagingIdler() {
     if (!mi::idler.Engaged()) {
         state = ProgressCode::ERRWaitingForUser;
+        error = deferredErrorCode;
+        deferredErrorCode = ErrorCode::OK; // and clear the deferredEC just for safety
         mg::globals.IncDriveErrors();
         mpu::pulley.Disable();
         mui::userInput.Clear(); // remove all buffered events if any just before we wait for some input
     }
 }
 
-void CommandBase::GoToErrDisengagingIdler(ErrorCode ec) {
+void CommandBase::GoToErrDisengagingIdler(ErrorCode deferredEC) {
     state = ProgressCode::ERRDisengagingIdler;
-    error = ec;
+    deferredErrorCode = deferredEC;
     ml::leds.SetPairButOffOthers(mg::globals.ActiveSlot(), ml::off, ml::blink0);
     mi::idler.Disengage();
 }
diff --git a/src/logic/command_base.h b/src/logic/command_base.h
index 5af61f7..05e5954 100644
--- a/src/logic/command_base.h
+++ b/src/logic/command_base.h
@@ -26,6 +26,7 @@ public:
     inline CommandBase()
         : state(ProgressCode::OK)
         , error(ErrorCode::OK)
+        , deferredErrorCode(ErrorCode::OK)
         , stateBeforeModuleFailed(ProgressCode::Empty)
         , errorBeforeModuleFailed(ErrorCode::OK)
         , recoveringMovableErrorAxisMask(0) {}
@@ -105,7 +106,7 @@ protected:
     void ErrDisengagingIdler();
 
     /// Transit the state machine into ErrDisengagingIdler
-    void GoToErrDisengagingIdler(ErrorCode ec);
+    void GoToErrDisengagingIdler(ErrorCode deferredEC);
 
     /// Transit the state machine into ErrEngagingIdler
     void GoToErrEngagingIdler();
@@ -115,6 +116,7 @@ protected:
 
     ProgressCode state; ///< current progress state of the state machine
     ErrorCode error; ///< current error code
+    ErrorCode deferredErrorCode; ///< planned error code - occurs when doing GoToErrDisengagingIdler - after the idler disengaged, the error is set (not before)
     ProgressCode stateBeforeModuleFailed; ///< saved state of the state machine before a common error happened
     ErrorCode errorBeforeModuleFailed; ///< saved error of the state machine before a common error happened
     uint8_t recoveringMovableErrorAxisMask;