diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 18f5f6237ee..b0706538f62 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -2153,7 +2153,7 @@ async def pick_up_tip(
         realmount = OT3Mount.from_mount(mount)
         instrument = self._pipette_handler.get_pipette(realmount)
 
-        async def add_tip_to_instr() -> None:
+        async def add_tip_to_instr() -> bool:
             if isinstance(self._backend, OT3Simulator):
                 instrument.add_tip(tip_length=tip_length)
                 instrument.set_current_volume(0)
@@ -2165,6 +2165,9 @@ async def add_tip_to_instr() -> None:
                 if status == TipStateType.PRESENT:
                     instrument.add_tip(tip_length=tip_length)
                     instrument.set_current_volume(0)
+                    return True
+                else:
+                    return False
 
         await self._move_to_plunger_bottom(realmount, rate=1.0)
         if (
@@ -2202,7 +2205,8 @@ async def add_tip_to_instr() -> None:
                 realmount, top_types.Point(z=spec.ending_z_retract_distance)
             )
 
-        await add_tip_to_instr()
+        if not await add_tip_to_instr():
+            return
 
         if prep_after:
             await self.prepare_for_aspirate(realmount)