diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index b48ff66d..6134a0d0 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -532,6 +532,7 @@ void Axis::run_state_machine_loop() {
                     goto invalid_state_label;
                 if (!encoder_.is_ready_)
                     goto invalid_state_label;
+                watchdog_feed();
                 status = run_closed_loop_control_loop();
             } break;