diff --git a/src/Config.h b/src/Config.h
index a66e520..5ddd67e 100644
--- a/src/Config.h
+++ b/src/Config.h
@@ -20,6 +20,7 @@ const char COMM_REPORT_CMD_ERROR[4] = {'R', '0', '3', '\0'};
 const char COMM_REPORT_CMD_BUSY[4] = {'R', '0', '4', '\0'};
 const char COMM_REPORT_CMD_STATUS[4] = {'R', '0', '5', '\0'};
 const char COMM_REPORT_CALIB_STATUS[4] = {'R', '0', '6', '\0'};
+const char COMM_REPORT_CMD_RETRY[4] = { 'R', '0', '7', '\0' };
 
 const char COMM_REPORT_ENCODER_SCALED[4] = { 'R', '8', '4', '\0' };
 const char COMM_REPORT_ENCODER_RAW[4] = { 'R', '8', '5', '\0' };
@@ -54,6 +55,7 @@ const long PARAM_TEST_DEFAULT = 0;
 const long PARAM_CONFIG_OK_DEFAULT = 0;
 const long PARAM_USE_EEPROM_DEFAULT = 1;
 const long PARAM_E_STOP_ON_MOV_ERR_DEFAULT = 0;
+const long PARAM_MOV_NR_RETRY_DEFAULT = 3;
 
 const long MOVEMENT_TIMEOUT_X_DEFAULT = 120;
 const long MOVEMENT_TIMEOUT_Y_DEFAULT = 120;
diff --git a/src/CurrentState.cpp b/src/CurrentState.cpp
index 1a91e9d..bf8aba3 100644
--- a/src/CurrentState.cpp
+++ b/src/CurrentState.cpp
@@ -14,6 +14,7 @@ long z = 0;
 unsigned int speed = 0;
 bool endStopState[3][2];
 long Q = 0;
+int lastError = 0;
 
 CurrentState *CurrentState::getInstance()
 {
@@ -31,6 +32,7 @@ CurrentState::CurrentState()
   z = 0;
   speed = 0;
   Q = 0;
+  lastError = 0;
 }
 
 long CurrentState::getX()
@@ -69,6 +71,16 @@ void CurrentState::setZ(long newZ)
   z = newZ;
 }
 
+int CurrentState::getLastError()
+{
+  return lastError;
+}
+
+void CurrentState::setLastError(int error)
+{
+  lastError = error;
+}
+
 void CurrentState::setEndStopState(unsigned int axis, unsigned int position, bool state)
 {
   endStopState[axis][position] = state;
diff --git a/src/CurrentState.h b/src/CurrentState.h
index 50ef9d6..9717ce3 100644
--- a/src/CurrentState.h
+++ b/src/CurrentState.h
@@ -23,6 +23,9 @@ public:
   void setY(long);
   void setZ(long);
 
+  int getLastError();
+  void setLastError(int error);
+
   void setEndStopState(unsigned int, unsigned int, bool);
   void printPosition();
   String getPosition();
diff --git a/src/GCodeProcessor.cpp b/src/GCodeProcessor.cpp
index cbfad42..b6535ce 100644
--- a/src/GCodeProcessor.cpp
+++ b/src/GCodeProcessor.cpp
@@ -27,11 +27,31 @@ int GCodeProcessor::execute(Command *command)
 {
 
   int execution = 0;
+  bool isMovement = false;
+
+  int attempt = 0;
+  int maximumAttempts = ParameterList::getInstance()->getValue(PARAM_MOV_NR_RETRY);
 
   long Q = command->getQ();
   CurrentState::getInstance()->setQ(Q);
 
-  
+  if
+  (
+    command->getCodeEnum() == G00 ||
+    command->getCodeEnum() == G01 ||
+    command->getCodeEnum() == F11 ||
+    command->getCodeEnum() == F12 ||
+    command->getCodeEnum() == F13 ||
+    command->getCodeEnum() == F14 ||
+    command->getCodeEnum() == F15 ||
+    command->getCodeEnum() == F16
+  )
+  {
+    isMovement = true;
+  }
+
+
+
   //Only allow reset of emergency stop when emergency stop is engaged
 
   if (CurrentState::getInstance()->isEmergencyStop()) 
@@ -106,13 +126,37 @@ int GCodeProcessor::execute(Command *command)
     return -1;
   }
 
-  // Execute the command, report start and end
+  // Report start of command
 
   Serial.print(COMM_REPORT_CMD_START);
   CurrentState::getInstance()->printQAndNewLine();
 
-  execution = handler->execute(command);
+  // Execute command with retry
+  CurrentState::getInstance()->setLastError(0);
+  while (attempt < 1 || (attempt < maximumAttempts && execution != 0))
+  {
+    Serial.print("R99 attempt ");
+    Serial.print(attempt);
+    Serial.print(" from ");
+    Serial.print(maximumAttempts);
 
+    Serial.print("\r\n");
+
+    attempt++;
+    if (attempt > 1)
+    {
+      Serial.print(COMM_REPORT_CMD_RETRY);
+      CurrentState::getInstance()->printQAndNewLine();
+    }
+    
+    handler->execute(command);
+    execution = CurrentState::getInstance()->getLastError();
+
+    Serial.print("R99 execution ");
+    Serial.print(execution);
+    Serial.print("\r\n");
+
+  }
   // Clean serial buffer
   while (Serial.available() > 0)
   {
diff --git a/src/ParameterList.cpp b/src/ParameterList.cpp
index 263e7c8..ed3ac36 100644
--- a/src/ParameterList.cpp
+++ b/src/ParameterList.cpp
@@ -245,7 +245,9 @@ void ParameterList::loadDefaultValue(int id)
   case PARAM_E_STOP_ON_MOV_ERR:
     paramValues[id] = PARAM_E_STOP_ON_MOV_ERR_DEFAULT;
     break;
-
+  case PARAM_MOV_NR_RETRY:
+    paramValues[id] = PARAM_MOV_NR_RETRY_DEFAULT;
+    break;
   case MOVEMENT_TIMEOUT_X:
     paramValues[id] = MOVEMENT_TIMEOUT_X_DEFAULT;
     break;
@@ -509,6 +511,7 @@ bool ParameterList::validParam(int id)
   case PARAM_CONFIG_OK:
   case PARAM_USE_EEPROM:
   case PARAM_E_STOP_ON_MOV_ERR:
+  case PARAM_MOV_NR_RETRY:
   case MOVEMENT_TIMEOUT_X:
   case MOVEMENT_TIMEOUT_Y:
   case MOVEMENT_TIMEOUT_Z:
diff --git a/src/ParameterList.h b/src/ParameterList.h
index cdf522c..e2400d2 100644
--- a/src/ParameterList.h
+++ b/src/ParameterList.h
@@ -17,6 +17,8 @@ enum ParamListEnum
   PARAM_USE_EEPROM = 3,
   PARAM_E_STOP_ON_MOV_ERR = 4,
 
+  PARAM_MOV_NR_RETRY = 5,
+
   // stepper motor settings
 
   MOVEMENT_TIMEOUT_X = 11,
diff --git a/src/StepperControl.cpp b/src/StepperControl.cpp
index 3579981..e3e81e1 100644
--- a/src/StepperControl.cpp
+++ b/src/StepperControl.cpp
@@ -433,6 +433,10 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
         encoderX.setPosition(0);
         axisX.setCurrentPosition(0);
       }
+      else
+      {
+        error = 1;
+      }
     }
 
     if (axisY.isAxisActive() && motorConsMissedSteps[1] > motorConsMissedStepsMax[1])
@@ -450,6 +454,10 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
         encoderY.setPosition(0);
         axisY.setCurrentPosition(0);
       }
+      else
+      {
+        error = 1;
+      }
     }
 
     if (axisZ.isAxisActive() && motorConsMissedSteps[2] > motorConsMissedStepsMax[2])
@@ -468,6 +476,10 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
         encoderZ.setPosition(0);
         axisZ.setCurrentPosition(0);        
       }
+      else
+      {
+        error = 1;
+      }
     }
 
     if (axisX.endStopAxisReached(false))
@@ -652,7 +664,14 @@ int StepperControl::moveToCoords(long xDest, long yDest, long zDest,
     CurrentState::getInstance()->setEmergencyStop();
   }
 
+  Serial.print("R99 error ");
+  Serial.print(error);
+  Serial.print("\r\n");
+
+
   // Return error
+  CurrentState::getInstance()->setLastError(error);
+
   return error;
 }