diff --git a/odrive_node/src/odrive_can_node.cpp b/odrive_node/src/odrive_can_node.cpp
index 8b92c65..de02470 100644
--- a/odrive_node/src/odrive_can_node.cpp
+++ b/odrive_node/src/odrive_can_node.cpp
@@ -186,12 +186,17 @@ void ODriveCanNode::service_callback(const std::shared_ptr<AxisState::Request> r
     }
     srv_evt_.set();
 
+    // Wait for at least 1 second for a new heartbeat to arrive.
+    // If the requested state is something other than CLOSED_LOOP_CONTROL, also
+    // wait for the procedure to complete (procedure_result != BUSY).
     std::unique_lock<std::mutex> guard(ctrl_stat_mutex_); // define lock for controller status
     auto call_time = std::chrono::steady_clock::now();
-    fresh_heartbeat_.wait(guard, [this, &call_time]() {
-        bool complete = (this->ctrl_stat_.procedure_result != 1) && // make sure procedure_result is not busy
-            (std::chrono::steady_clock::now() - call_time >= std::chrono::seconds(1)); // wait for minimum one second 
-        return complete; 
+    fresh_heartbeat_.wait(guard, [this, &call_time, &request]() {
+        bool is_busy = this->ctrl_stat_.procedure_result == ODriveProcedureResult::PROCEDURE_RESULT_BUSY;
+        bool requested_closed_loop = request->axis_requested_state == ODriveAxisState::AXIS_STATE_CLOSED_LOOP_CONTROL;
+        bool minimum_time_passed = (std::chrono::steady_clock::now() - call_time >= std::chrono::seconds(1));
+        bool complete = (requested_closed_loop || !is_busy) && minimum_time_passed;
+        return complete;
         }); // wait for procedure_result
     
     response->axis_state = ctrl_stat_.axis_state;