diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py
index 8d54cdc..613ff91 100644
--- a/rmp220_middleware/rmp220_middleware.py
+++ b/rmp220_middleware/rmp220_middleware.py
@@ -126,7 +126,7 @@ class StateMachineNode(Node):
     def timer_callback(self):
         # if self.chassis_mode == State.DISABLED or self.chassis_mode == State.STOPPED or self.chassis_mode == State.PASSIVE:
         #     return # Do nothing if chassis is disabled, stopped or passive --> should save processing power
-        if self.chassis_mode == State.ENABLED:
+        if self.state == State.ENABLED:
             if self.timeout <= 0:
                 self.state = State.PAUSED
                 self.get_logger().info("State: PAUSED (Timeout)")