diff --git a/src/shared/actuators/stepper/Stepper.cpp b/src/shared/actuators/stepper/Stepper.cpp
index a39622273e1568163304b6b0c04ce441516dcda7..d76f6dfebf538a5e39b7378b5ac5a603d01dbf1c 100644
--- a/src/shared/actuators/stepper/Stepper.cpp
+++ b/src/shared/actuators/stepper/Stepper.cpp
@@ -113,7 +113,7 @@ void Stepper::setDirection()
 
 void Stepper::move(int16_t steps)
 {
-    if (speed == 0)
+    if (!enabled || speed == 0 || steps == 0)
         return;
 
     unsigned int halfStepDelay = 1e6 / (speed * 360 / stepAngle * microStep);
diff --git a/src/shared/actuators/stepper/StepperPWM.cpp b/src/shared/actuators/stepper/StepperPWM.cpp
index e9eccf5ffa73aac7ba0c8b8ef5ca13668dfa7ff5..4f04532dff19e839c75a1a75d19a342219ce70db 100644
--- a/src/shared/actuators/stepper/StepperPWM.cpp
+++ b/src/shared/actuators/stepper/StepperPWM.cpp
@@ -62,7 +62,7 @@ void StepperPWM::setMicroStepping(uint16_t microStep)
 
 void StepperPWM::move(int16_t steps)
 {
-    if (speed == 0 || steps == 0)
+    if (!enabled || speed == 0 || steps == 0)
         return;
 
     // First update currentPositionDeg. This method corrects the initial