diff --git a/kawasaki_driver/src/kawasaki_driver/constants.py b/kawasaki_driver/src/kawasaki_driver/constants.py
index e4e2b49..161200a 100644
--- a/kawasaki_driver/src/kawasaki_driver/constants.py
+++ b/kawasaki_driver/src/kawasaki_driver/constants.py
@@ -9,6 +9,7 @@ class const:
                        ' is OFF.')
     TEACH_LOCK_ON_ERROR = ('(P1002)Cannot execute program because teach lock '
                            'is ON.')
+    TEACH_MODE_ERROR = ('(P1001)Cannot execute program in TEACH mode.')
     ERROR_MODE_ERROR = ('(P1013)Cannot execute because in error now. '
                         'Reset error.')
     ALREADY_RUNNING_ERROR = ('(P1009)Program is already running.')
diff --git a/kawasaki_driver/src/kawasaki_driver/kawasaki_commands.py b/kawasaki_driver/src/kawasaki_driver/kawasaki_commands.py
index 128c167..f4ba639 100644
--- a/kawasaki_driver/src/kawasaki_driver/kawasaki_commands.py
+++ b/kawasaki_driver/src/kawasaki_driver/kawasaki_commands.py
@@ -108,6 +108,9 @@ def set_state(pose_msg, connection_socket):
         elif (feedback_error == const.CANNOT_REACH_ERROR):
             rospy.logerr(feedback_error)
             return False
+        elif (feedback_error == const.TEACH_MODE_ERROR):
+            rospy.logerr(feedback_error)
+            return False
         else:
             # TODO(ntonci): Handle any other known errors.
             rospy.logerr(message)