diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index a28bb14..7f42a08 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -815,6 +815,13 @@ asynStatus masterMacsAxis::stop(double acceleration) {
 
 asynStatus masterMacsAxis::doReset() {
 
+    // Reset errors
+    asynStatus status = pC_->write(axisNo_, 16, "");
+    if (status != asynSuccess) {
+        setAxisParamChecked(this, motorStatusProblem, true);
+    }
+
+    // Reset the controller
     asynStatus status = pC_->write(axisNo_, 17, "");
     if (status != asynSuccess) {
         setAxisParamChecked(this, motorStatusProblem, true);