diff --git a/frappy_psi/phytron.py b/frappy_psi/phytron.py
index cdbc024..ea0b08f 100644
--- a/frappy_psi/phytron.py
+++ b/frappy_psi/phytron.py
@@ -168,10 +168,9 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
     def write_target(self, value):
         self.read_alive_time()
         if self._reset_needed:
-            self.status = ERROR, 'reset needed after power up (probably position lost)'
+            if not self.status[1].startswith('reset needed'):
+                self.status = ERROR, 'reset needed after ' + self.status[1]
             raise HardwareError(self.status[1])
-        if self.status[0] == ERROR:
-            raise HardwareError('need reset')
         self.saveParameters()
         if self.backlash:
             # drive first to target + backlash
@@ -191,6 +190,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
             sysstatus = sysstatus[2:4] if self.axis == 'X' else sysstatus[6:8]
         status = self.STATUS_MAP.get(sysstatus) or (ERROR, f'unknown error {sysstatus}')
         if status[0] == ERROR:
+            self._reset_needed = True
             return status
         return super().read_status()  # status from state machine
 
@@ -212,6 +212,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
                        self.value, e1, e2)
         self.get('S')  # stop
         self.saveParameters()
+        self._reset_needed = True
         raise HardwareError('encoder lag error')
 
     @status_code(BUSY)
@@ -242,6 +243,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
             if sm.mismatch_count > 2:
                 self.log.error('encoder mismatch: abs(%g - %g) < %g',
                                enc, pos, self.encoder_tolerance)
+                self._reset_needed = True
                 raise HardwareError('encoder does not match pos')
             sm.mismatch_count += 1
             return Retry
@@ -255,7 +257,7 @@ class Motor(HasOffset, HasStates, PersistentMixin, HasIO, Drivable):
     def reset_error(self):
         """Reset error, set position to encoder"""
         self.read_value()
-        if self.status[0] == ERROR or self._reset_needed:
+        if self._reset_needed:
             newenc = enc = self.read_encoder()
             pos = self.value
             if abs(enc - pos) > self.encoder_tolerance or self.encoder_mode == 'NO':