diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
index e540b06e51..4c0a8bb3f8 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp
@@ -150,7 +150,7 @@ inline bool check_state_tolerance_per_joint(
   if (show_errors)
   {
     const auto logger = rclcpp::get_logger("tolerances");
-    RCLCPP_ERROR(logger, "Path state tolerances failed:");
+    RCLCPP_ERROR(logger, "State tolerances failed for joint %d:", joint_idx);
 
     if (state_tolerance.position > 0.0 && abs(error_position) > state_tolerance.position)
     {
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
index 0865c13716..301c0909f1 100644
--- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp
+++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -259,20 +259,21 @@ controller_interface::return_type JointTrajectoryController::update(
 
         // Always check the state tolerance on the first sample in case the first sample
         // is the last point
+        // print output per default, goal will be aborted afterwards
         if (
-          (before_last_point || first_sample) &&
+          (before_last_point || first_sample) && *(rt_is_holding_.readFromRT()) == false &&
           !check_state_tolerance_per_joint(
-            state_error_, index, default_tolerances_.state_tolerance[index], false) &&
-          *(rt_is_holding_.readFromRT()) == false)
+            state_error_, index, default_tolerances_.state_tolerance[index],
+            true /* show_errors */))
         {
           tolerance_violated_while_moving = true;
         }
         // past the final point, check that we end up inside goal tolerance
         if (
-          !before_last_point &&
+          !before_last_point && *(rt_is_holding_.readFromRT()) == false &&
           !check_state_tolerance_per_joint(
-            state_error_, index, default_tolerances_.goal_state_tolerance[index], false) &&
-          *(rt_is_holding_.readFromRT()) == false)
+            state_error_, index, default_tolerances_.goal_state_tolerance[index],
+            false /* show_errors */))
         {
           outside_goal_tolerance = true;
 
@@ -281,6 +282,10 @@ controller_interface::return_type JointTrajectoryController::update(
             if (time_difference > default_tolerances_.goal_time_tolerance)
             {
               within_goal_time = false;
+              // print once, goal will be aborted afterwards
+              check_state_tolerance_per_joint(
+                state_error_, index, default_tolerances_.goal_state_tolerance[index],
+                true /* show_errors */);
             }
           }
         }