diff --git a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
index 113f56214..9be7b625b 100644
--- a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
+++ b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
@@ -51,9 +51,6 @@ class MotionController {
             .stay_engaged = can_msg.stay_engaged,
             .stop_condition = MoveStopCondition::none,
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -66,9 +63,6 @@ class MotionController {
             .seq_id = can_msg.seq_id,
             .stop_condition = MoveStopCondition::limit_switch,
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -84,16 +78,15 @@ class MotionController {
                         get_mechanical_config().get_encoder_um_per_pulse()),
             .stop_condition = MoveStopCondition::encoder_position,
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
     void enable_motor() {
-        hardware.activate_motor();
-        hardware.start_timer_interrupt();
-        enabled = true;
+        if (!enabled) {
+            hardware.activate_motor();
+            hardware.start_timer_interrupt();
+            enabled = true;
+        }
     }
 
     void disable_motor() {
diff --git a/include/motor-control/core/stepper_motor/motion_controller.hpp b/include/motor-control/core/stepper_motor/motion_controller.hpp
index fe356fa6d..0f33f7e9b 100644
--- a/include/motor-control/core/stepper_motor/motion_controller.hpp
+++ b/include/motor-control/core/stepper_motor/motion_controller.hpp
@@ -80,9 +80,6 @@ class MotionController {
             0,
             hardware.get_usage_eeprom_config().get_distance_key(),
             can_msg.sensor_id};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -101,9 +98,6 @@ class MotionController {
             .stop_condition = can_msg.request_stop_condition,
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key(),
             .sensor_id = can::ids::SensorId::UNUSED};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -121,9 +115,6 @@ class MotionController {
                 static_cast<uint8_t>(MoveStopCondition::limit_switch),
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key(),
             .sensor_id = can::ids::SensorId::UNUSED};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 #else
@@ -142,9 +133,6 @@ class MotionController {
             .seq_id = can_msg.seq_id,
             .stop_condition = can_msg.request_stop_condition,
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -161,9 +149,6 @@ class MotionController {
             .stop_condition =
                 static_cast<uint8_t>(MoveStopCondition::limit_switch),
             .usage_key = hardware.get_usage_eeprom_config().get_distance_key()};
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -211,9 +196,11 @@ class MotionController {
     auto read_tmc_diag0() -> bool { return hardware.read_tmc_diag0(); }
 
     void enable_motor() {
-        hardware.start_timer_interrupt();
-        hardware.activate_motor();
-        enabled = true;
+        if (!enabled) {
+            hardware.start_timer_interrupt();
+            hardware.activate_motor();
+            enabled = true;
+        }
     }
 
     void disable_motor() {
@@ -330,10 +317,6 @@ class PipetteMotionController {
             can_msg.action,
             gear_motor_id,
             can::ids::SensorId::UNUSED};
-
-        if (!enabled) {
-            enable_motor();
-        }
         queue.try_write(msg);
     }
 
@@ -369,9 +352,11 @@ class PipetteMotionController {
     auto read_tmc_diag0() -> bool { return hardware.read_tmc_diag0(); }
 
     void enable_motor() {
-        hardware.start_timer_interrupt();
-        hardware.activate_motor();
-        enabled = true;
+        if (!enabled) {
+            hardware.start_timer_interrupt();
+            hardware.activate_motor();
+            enabled = true;
+        }
     }
 
     void disable_motor() {
diff --git a/include/motor-control/core/tasks/brushed_motion_controller_task.hpp b/include/motor-control/core/tasks/brushed_motion_controller_task.hpp
index cc817135d..f3d37f247 100644
--- a/include/motor-control/core/tasks/brushed_motion_controller_task.hpp
+++ b/include/motor-control/core/tasks/brushed_motion_controller_task.hpp
@@ -74,14 +74,17 @@ class MotionControllerMessageHandler {
     }
 
     void handle(const can::messages::AddBrushedLinearMoveRequest& m) {
+        controller.enable_motor();
         controller.move(m);
     }
 
     void handle(const can::messages::GripperGripRequest& m) {
+        controller.enable_motor();
         controller.move(m);
     }
 
     void handle(const can::messages::GripperHomeRequest& m) {
+        controller.enable_motor();
         controller.move(m);
     }
 
diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
index 239377ef5..a7dc70384 100644
--- a/include/motor-control/core/tasks/motion_controller_task.hpp
+++ b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -131,6 +131,7 @@ class MotionControllerMessageHandler {
                     .error_code =
                         can::ids::ErrorCode::motor_driver_error_detected});
         } else {
+            controller.enable_motor();
             controller.move(m);
         }
     }
@@ -141,6 +142,7 @@ class MotionControllerMessageHandler {
             "groupid=%d, seqid=%d, duration=%d, stopcondition=%d",
             m.velocity, m.acceleration, m.group_id, m.seq_id, m.duration,
             m.request_stop_condition);
+        controller.enable_motor();
         controller.move(m);
     }
 #endif
@@ -158,6 +160,7 @@ class MotionControllerMessageHandler {
                     .error_code =
                         can::ids::ErrorCode::motor_driver_error_detected});
         } else {
+            controller.enable_motor();
             controller.move(m);
         }
     }
diff --git a/include/pipettes/core/tasks/motion_controller_task.hpp b/include/pipettes/core/tasks/motion_controller_task.hpp
index 0a8de42ec..246fc1f3b 100644
--- a/include/pipettes/core/tasks/motion_controller_task.hpp
+++ b/include/pipettes/core/tasks/motion_controller_task.hpp
@@ -138,6 +138,7 @@ class MotionControllerMessageHandler {
                     .error_code =
                         can::ids::ErrorCode::motor_driver_error_detected});
         } else {
+            controller.enable_motor();
             controller.move(m);
         }
     }