diff --git a/src/tiago_arm_bt_module.cpp b/src/tiago_arm_bt_module.cpp
index 1c5288f216975ca7040bc643897443301d1e91d2..687e15b2e75783723642f5b2cb703a03c5f6d7c6 100644
--- a/src/tiago_arm_bt_module.cpp
+++ b/src/tiago_arm_bt_module.cpp
@@ -485,7 +485,7 @@ BT::NodeStatus CTiagoArmModuleBT::async_cancel_tiago_arm_action(void)
     else
       return BT::NodeStatus::FAILURE;
   }
-  return BT::NodeStatus::SUCCESS;
+  return BT::NodeStatus::RUNNING;
 }
 
 BT::NodeStatus CTiagoArmModuleBT::is_tiago_arm_finished(void)