diff --git a/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp b/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
index 87e573c8..98374c3b 100644
--- a/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
+++ b/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
@@ -1577,6 +1577,22 @@ bool TouchScreenTask::stepTouching() {
         return true;
     }
 
+    // A successful speedL submission does not report later worker failures.
+    // With duration=0 the controller must stay active until we request a stop
+    // or retract; otherwise waiting for contact/distance can continue forever.
+    if (!arm_->busy()) {
+        const double elapsed =
+            std::chrono::duration<double>(Clock::now() - phase_start_time_).count();
+        CMVR_LOG(ERROR) << "[TouchScreenTask][TOUCHING] speedL controller became idle before contact"
+                        << ", elapsed_s=" << elapsed
+                        << ", fz_N=" << last_touch_resultant_fz_
+                        << ", criterion_value_N=" << last_touch_pressure_sum_
+                        << ", threshold_N=" << config_.touch().tactile().force_threshold()
+                        << "; check preceding CartesianVelocityController/planner errors";
+        enterFailed(Status::ROBOT_COMMAND_FAILED);
+        return false;
+    }
+
     const double speed_l_max_distance_m = config_.touch().speed_l().max_distance_m();
     if (speed_l_max_distance_m > 0.0) {
         if (!touch_start_position_valid_) {