diff --git a/cfg/PlayMotionModule.cfg b/cfg/PlayMotionModule.cfg
index 67ddc2461d92ea6f4f3a2431d16dea0cd0011806..0459d84ef84b6495f9cafa3e1fb57f3696d103f5 100755
--- a/cfg/PlayMotionModule.cfg
+++ b/cfg/PlayMotionModule.cfg
@@ -41,11 +41,12 @@ play_action = gen.add_group("Play motion action")
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 #gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
-gen.add("rate_hz",                 double_t,  0,                               "Gripper module rate in Hz",       1.0,      1.0,  100.0)
+gen.add("rate_hz",                 double_t,  0,                               "Gripper module rate in Hz",      1.0,      1.0,  100.0)
 
-play_action.add("action_max_retries",int_t, 0,                                 "Maximum number of retries for the action start",    1,   1,    10)
+play_action.add("action_max_retries",int_t,   0,                               "Maximum number of retries for the action start",    1,   1,    10)
 play_action.add("feedback_watchdog_time_s",double_t,    0,                     "Maximum time between feedback messages",    1,   0.01,    50)
-play_action.add("timeout_s",     double_t,  0,                                 "Maximum time allowed to complete the action",    1,   0.1,    30)
-play_action.add("enable_timeout",bool_t,    0,                                 "Enable action timeout ",         True)
+play_action.add("timeout_s",       double_t,  0,                               "Maximum time allowed to complete the action",    1,   0.1,    30)
+play_action.add("enable_timeout",  bool_t,    0,                               "Enable action timeout",          True)
+play_action.add("enabled",         bool_t,    0,                               "Enable action execution",        True)
 
 exit(gen.generate(PACKAGE, "PlayMotionModuleAlgorithm", "PlayMotionModule"))
diff --git a/src/play_motion_module.cpp b/src/play_motion_module.cpp
index 6241e1175aa8830384ff87f7ee7e6aae88d2ee8d..69d967600b4fb6f1cd935201c066f88d3ecfe105 100644
--- a/src/play_motion_module.cpp
+++ b/src/play_motion_module.cpp
@@ -109,6 +109,10 @@ void CPlayMotionModule::reconfigure_callback(play_motion_module::PlayMotionModul
     this->play_motion_action.enable_timeout(config.timeout_s);
   else
     this->play_motion_action.disable_timeout(); 
+  if(this->config.enabled)
+    this->play_motion_action.enable();
+  else
+    this->play_motion_action.disable();
   this->unlock();
 }