In this paper we present a neural network model of motor learning structured around circuits which associate motor actions with their sensory effects, as proposed by Hommel et al. (2001). The network implements a novel model of causative actions, which bring about specified distal movements in manipulated target objects (e.g. bending a lever). It also serves as the basis for a novel embodied account of the syntax of causative sentences such as 'John bent the lever'.