diff --git a/docs/mobility/motion/_index.md b/docs/mobility/motion/_index.md
index c6af6b09a4..e20f5096ac 100644
--- a/docs/mobility/motion/_index.md
+++ b/docs/mobility/motion/_index.md
@@ -364,7 +364,7 @@ Move a [base](/components/base/) component to a destination [`Pose`](https://pyt
 Each successful `MoveOnMap()` call returns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnMap()` call.
 
 {{< alert title="Info" color="info" >}}
-If you specify a goal pose or orientation and the robot's current position is already at the goal post or orientation, `MoveonMap` returns an error.
+If you specify a goal pose and the robot's current position is already within the set `PlanDeviationM`, then `MoveOnMap` returns an error.
 {{< /alert >}}
 
 You can monitor the progress of the `MoveOnMap()` call by querying `GetPlan()` and `ListPlanStatuses()`.