diff --git a/ethercat_driver/include/ethercat_driver/ethercat_driver.hpp b/ethercat_driver/include/ethercat_driver/ethercat_driver.hpp
index 8862c0a0..47b447d8 100644
--- a/ethercat_driver/include/ethercat_driver/ethercat_driver.hpp
+++ b/ethercat_driver/include/ethercat_driver/ethercat_driver.hpp
@@ -59,6 +59,9 @@ class EthercatDriver : public hardware_interface::SystemInterface
   ETHERCAT_DRIVER_PUBLIC
   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
+  ETHERCAT_DRIVER_PUBLIC
+  CallbackReturn on_cleanup(const rclcpp_lifecycle::State & previous_state) override;
+
   ETHERCAT_DRIVER_PUBLIC
   hardware_interface::return_type read(const rclcpp::Time &, const rclcpp::Duration &) override;
 
diff --git a/ethercat_driver/src/ethercat_driver.cpp b/ethercat_driver/src/ethercat_driver.cpp
index deea06b5..bd7e6179 100644
--- a/ethercat_driver/src/ethercat_driver.cpp
+++ b/ethercat_driver/src/ethercat_driver.cpp
@@ -372,6 +372,17 @@ CallbackReturn EthercatDriver::on_deactivate(
   return CallbackReturn::SUCCESS;
 }
 
+CallbackReturn EthercatDriver::on_cleanup(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  ec_modules_.clear();
+
+  RCLCPP_INFO(
+    rclcpp::get_logger("EthercatDriver"), "System successfully cleaned up!");
+
+  return CallbackReturn::SUCCESS;
+}
+
 hardware_interface::return_type EthercatDriver::read(
   const rclcpp::Time & /*time*/,
   const rclcpp::Duration & /*period*/)
diff --git a/ethercat_interface/src/ec_master.cpp b/ethercat_interface/src/ec_master.cpp
index db31e680..3a146377 100644
--- a/ethercat_interface/src/ec_master.cpp
+++ b/ethercat_interface/src/ec_master.cpp
@@ -74,6 +74,7 @@ EcMaster::~EcMaster()
       delete domain.second;
     }
   }
+  ecrt_release_master(master_);
 }
 
 void EcMaster::addSlave(uint16_t alias, uint16_t position, EcSlave * slave)