diff --git a/src/ur/dashboard_client_implementation_g5.cpp b/src/ur/dashboard_client_implementation_g5.cpp
index 61f50435..25e5a6b9 100644
--- a/src/ur/dashboard_client_implementation_g5.cpp
+++ b/src/ur/dashboard_client_implementation_g5.cpp
@@ -438,7 +438,7 @@ DashboardResponse DashboardClientImplG5::commandPowerOn(const std::chrono::durat
   DashboardResponse response;
   try
   {
-    response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: IDLE", timeout);
+    response.message = retryCommandString("power on", "Powering on", "robotmode", "Robotmode: (IDLE|RUNNING)", timeout);
     response.ok = true;
   }
   catch (const UnexpectedResponse& e)
diff --git a/tests/test_dashboard_client_g5.cpp b/tests/test_dashboard_client_g5.cpp
index 2b8164f2..3696ac0c 100644
--- a/tests/test_dashboard_client_g5.cpp
+++ b/tests/test_dashboard_client_g5.cpp
@@ -91,6 +91,43 @@ TEST_F(DashboardClientTestG5, connect)
   ASSERT_TRUE(response.ok);
 }
 
+TEST_F(DashboardClientTestG5, power_cycle)
+{
+  EXPECT_TRUE(dashboard_client_->connect());
+  DashboardResponse response;
+
+  // Cycle from POWER_OFF to IDLE to RUNNING
+  response = dashboard_client_->commandPowerOff();
+  EXPECT_TRUE(response.ok);
+  response = dashboard_client_->commandPowerOn(std::chrono::seconds(5));
+  EXPECT_TRUE(response.ok);
+  response = dashboard_client_->commandBrakeRelease();
+  EXPECT_TRUE(response.ok);
+
+  // Calling power_on on a brake-released robot should succeed
+  response = dashboard_client_->commandPowerOn(std::chrono::seconds(5));
+  EXPECT_TRUE(response.ok);
+
+  // Power off from brake-released state (RUNNING)
+  response = dashboard_client_->commandPowerOff();
+  EXPECT_TRUE(response.ok);
+
+  // Power off from powered_on state (IDLE)
+  dashboard_client_->commandPowerOn();
+  response = dashboard_client_->commandPowerOff();
+  EXPECT_TRUE(response.ok);
+
+  // Power off from powered_on state (IDLE)
+  dashboard_client_->commandPowerOff();
+  response = dashboard_client_->commandPowerOff();
+  EXPECT_TRUE(response.ok);
+
+  // Brake release from POWER_OFF should succeed
+  dashboard_client_->commandPowerOff();
+  response = dashboard_client_->commandBrakeRelease();
+  EXPECT_TRUE(response.ok);
+}
+
 TEST_F(DashboardClientTestG5, run_program)
 {
   EXPECT_TRUE(dashboard_client_->connect());