diff --git a/source/Motor.m b/source/Motor.m
index 5c94c3650bb4cd439ece13045ee9a3ef47bea5d4..40a858961f489eb10b7d1330c5627f013bb82e62 100755
--- a/source/Motor.m
+++ b/source/Motor.m
@@ -162,7 +162,7 @@ classdef Motor < MaskedHandle & dynamicprops
             
             % If the motor coasts into its stops, the internal tachocount has to be reset 
             % before each start for it to behave predictable
-            if motor.brakeMode_ == BrakeMode.Coast 
+            if motor.brakeMode_ == BrakeMode.Coast || motor.internalTachoCount ~= 0
                 motor.internalReset();
             end
 
@@ -342,8 +342,9 @@ classdef Motor < MaskedHandle & dynamicprops
             
             % If the motor coasts into its stops, the internal tachocount has to be reset 
             % before each start for it to behave predictable
-            if motor.brakeMode_ == BrakeMode.Coast 
+            if motor.brakeMode_ == BrakeMode.Coast || motor.internalTachoCount ~= 0
                 motor.internalReset();
+                syncMotor.internalReset();
             end
             
             if motor.state.sendOnStart > 0