diff --git a/include/iri_joints_module/iri_joints_module.h b/include/iri_joints_module/iri_joints_module.h
index 56ba932c4b63f26372929aeccba0f973db88f753..a4bb588554542ebbb0963ef82ccc658708d96fda 100644
--- a/include/iri_joints_module/iri_joints_module.h
+++ b/include/iri_joints_module/iri_joints_module.h
@@ -61,7 +61,9 @@ typedef enum {IRI_JOINTS_MODULE_RUNNING,
               IRI_JOINTS_MODULE_PREEMPTED,
               IRI_JOINTS_MODULE_REJECTED,
               IRI_JOINTS_MODULE_SET_PARAM_FAIL,
-              IRI_JOINTS_MODULE_PARAM_NOT_PRESENT} iri_joints_module_status_t;
+              IRI_JOINTS_MODULE_PARAM_NOT_PRESENT,
+              IRI_JOINTS_MODULE_NO_JOINT_STATES,
+              IRI_JOINTS_MODULE_TARGET_LOST} iri_joints_module_status_t;
 
 typedef enum {axis_x, axis_y, axis_z}Axis_enum_t;
 /**
diff --git a/src/iri_joints_client_alg_node.cpp b/src/iri_joints_client_alg_node.cpp
index 141058723b7ff6bef9f265e8c11cc9a1f03e9625..8c7084d875288f6c274fb34a4f74bc9dc2947563 100644
--- a/src/iri_joints_client_alg_node.cpp
+++ b/src/iri_joints_client_alg_node.cpp
@@ -106,6 +106,7 @@ void IriJointsClientAlgNode::node_config_update(Config &config, uint32_t level)
 
   if (config.add_joint)
   {
+    ROS_INFO_STREAM("Added joint");
     config.add_joint = false;
     this->joint_names.push_back(config.joint_name);
     this->angles.push_back(config.joint_angle);
diff --git a/src/iri_joints_module.cpp b/src/iri_joints_module.cpp
index 5084fab7c0eb9018f989c32467a05045e0042bba..63ce9b94da789432e7adf6b6c8a7151e60d34cc2 100644
--- a/src/iri_joints_module.cpp
+++ b/src/iri_joints_module.cpp
@@ -173,10 +173,10 @@ void CIriJointsModule::state_machine(void)
           this->track_action.stop_timeout();
         break;
         case ACTION_TIMEOUT:
-          ROS_ERROR("CIriJointsModule : PointHeadTrackerAction did not finish in the allowed time");
+          ROS_ERROR("CIriJointsModule : PointHeadTrackerAction target info not updated on the allowed time");
           this->track_action.cancel();
           this->state = IRI_JOINTS_MODULE_IDLE;
-          this->status = IRI_JOINTS_MODULE_TIMEOUT;
+          this->status = IRI_JOINTS_MODULE_TARGET_LOST;
           this->track_action.stop_timeout();
         break;
         case ACTION_FB_WATCHDOG:
@@ -282,11 +282,16 @@ void CIriJointsModule::state_machine(void)
       }
     break;
   }
+  if (this->joint_states_watchdog.is_active())
+  {
+    this->status = IRI_JOINTS_MODULE_NO_JOINT_STATES;
+    ROS_ERROR("CIriJointsModule: No joint_states received.");
+  }
 }
 
 void CIriJointsModule::reconfigure_callback(iri_joints_module::IriJointsModuleConfig &config, uint32_t level)
 {
-  ROS_DEBUG("CIriJointsModule : reconfigure callback");
+  ROS_DEBUG("CIriJointsModule: reconfigure callback");
   this->lock();
   this->config=config;
   /* set the module rate */