diff --git a/src/detectorTowerAngleAxis.cpp b/src/detectorTowerAngleAxis.cpp
index 594e0cb..9ed8407 100644
--- a/src/detectorTowerAngleAxis.cpp
+++ b/src/detectorTowerAngleAxis.cpp
@@ -260,9 +260,8 @@ asynStatus detectorTowerAngleAxis::startCombinedMove() {
     }
     if (isInChangerPos) {
 
-        plStatus = setStringParam(
-            pC_->motorMessageText(),
-            "Move the axis to working state first.");
+        plStatus = setStringParam(pC_->motorMessageText(),
+                                  "Move the axis to working state first.");
         if (plStatus != asynSuccess) {
             return pC_->paramLibAccessFailed(plStatus, "motorMessageText",
                                              axisNo_, __PRETTY_FUNCTION__,
@@ -449,9 +448,6 @@ detectorTowerAngleAxis::toggleWorkingChangerState(bool toChangingPosition) {
                                              axisNo_, __PRETTY_FUNCTION__,
                                              __LINE__);
         }
-
-        return pC_->paramLibAccessFailed(plStatus, "motorMessageText_", axisNo_,
-                                         __PRETTY_FUNCTION__, __LINE__);
     }
 
     plStatus = setIntegerParam(pC_->changeStateRBV(), toChangingPosition);
diff --git a/src/detectorTowerController.cpp b/src/detectorTowerController.cpp
index 3fc0929..5dc089e 100644
--- a/src/detectorTowerController.cpp
+++ b/src/detectorTowerController.cpp
@@ -272,9 +272,9 @@ asynStatus detectorTowerController::pollDetectorAxes(
     // Status of parameter library operations
     asynStatus plStatus = asynSuccess;
 
-    char userMessage[MAXBUF_] = {0};
-// User message which was created in one of the other axis methods
-    char oldUserMessage[MAXBUF_] = {0};
+    char errorMessage[MAXBUF_] = {0};
+    // User message which was created in one of the other axis methods
+    char waitingErrorMessage[MAXBUF_] = {0};
     char response[MAXBUF_] = {0};
     int nvals = 0;
 
@@ -482,9 +482,8 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetCountPosState = false;
 
-        snprintf(userMessage, sizeof(userMessage),
-                 "Reset one of the tower axes."
-                 );
+        snprintf(errorMessage, sizeof(errorMessage),
+                 "Reset one of the tower axes.");
 
         pollStatus = asynError;
         break;
@@ -520,7 +519,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetCountPosState = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Unknown state P358 = %d has been reached. Please call "
                  "the support.",
                  positionState);
@@ -567,7 +566,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Brake COZ not released. Try resetting the axis.");
 
         pollStatus = asynError;
@@ -584,7 +583,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Move command rejected because axis is already moving.  Try "
                  "resetting the axis.");
 
@@ -601,7 +600,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Error in motor FTZ. Try resetting the axis.");
 
         pollStatus = asynError;
@@ -618,9 +617,9 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
-                 "Axis stopped unexpectedly. Try resetting the axis "
-                 "and issue the move command again.");
+        snprintf(errorMessage, sizeof(errorMessage),
+                 "Axis stopped unexpectedly. Try resetting the axis and issue "
+                 "the move command again.");
 
         pollStatus = asynError;
         break;
@@ -637,7 +636,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         resetError = false;
 
         snprintf(
-            userMessage, sizeof(userMessage),
+            errorMessage, sizeof(errorMessage),
             "Axis release was removed while moving. Try resetting the axis "
             "and issue the move command again.");
 
@@ -655,7 +654,8 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage), "Emergency stop activated.");
+        snprintf(errorMessage, sizeof(errorMessage),
+                 "Emergency stop activated.");
 
         pollStatus = asynError;
         break;
@@ -670,7 +670,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Error in motor COZ. Try resetting the axis.");
 
         pollStatus = asynError;
@@ -686,7 +686,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Error in motor COM. Try resetting the axis.");
 
         pollStatus = asynError;
@@ -702,7 +702,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Error in motor COX. Try resetting the axis.");
 
         pollStatus = asynError;
@@ -719,7 +719,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         resetError = false;
 
         snprintf(
-            userMessage, sizeof(userMessage),
+            errorMessage, sizeof(errorMessage),
             "Hit end switch FTZ. Try moving the axis in the other direction.");
 
         pollStatus = asynError;
@@ -737,7 +737,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Maximum allowed following error exceeded (P359 = %d). "
                  "Check if movement range is blocked.",
                  error);
@@ -756,7 +756,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Minimum allowed angle exceeded (P359 = %d). Try moving the "
                  "axis in the other direction.",
                  error);
@@ -775,7 +775,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage),
+        snprintf(errorMessage, sizeof(errorMessage),
                  "Maximum allowed angle exceeded (P359 = %d). Try moving the "
                  "axis in the other direction.",
                  error);
@@ -794,7 +794,7 @@ asynStatus detectorTowerController::pollDetectorAxes(
         }
         resetError = false;
 
-        snprintf(userMessage, sizeof(userMessage), "Unknown error P359 = %d.",
+        snprintf(errorMessage, sizeof(errorMessage), "Unknown error P359 = %d.",
                  error);
 
         pollStatus = asynError;
@@ -805,13 +805,14 @@ asynStatus detectorTowerController::pollDetectorAxes(
         getMsgPrintControl().resetCount(keyError, pasynUser());
     }
 
-    // Update the parameter library for all axes
+    /*
+    Does the paramLib already contain an error message? If either this is the
+    case or if error != 0, report a status problem for all axes.
+    */
+    getStringParam(angleAxisNo, motorMessageText(), sizeof(waitingErrorMessage),
+                   waitingErrorMessage);
 
-
-
-getStringParam(angleAxisNo, motorMessageText(), sizeof(oldUserMessage), oldUserMessage);
-
-    if (error != 0 || oldUserMessage[0] != '\0') {
+    if (error != 0 || waitingErrorMessage[0] != '\0') {
 
         plStatus = angleAxis->setIntegerParam(motorStatusProblem(), true);
         if (plStatus != asynSuccess) {
@@ -835,25 +836,29 @@ getStringParam(angleAxisNo, motorMessageText(), sizeof(oldUserMessage), oldUserM
         }
     }
 
-    // Update the user message text, if one is available
-if (userMessage[0] != '\0') {
-    plStatus = angleAxis->setStringParam(motorMessageText(), userMessage);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorMessageText_", angleAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
+    // Update the error message text with the one created in this poll (in case
+    // it is not empty).
+    if (errorMessage[0] != '\0') {
+        plStatus = angleAxis->setStringParam(motorMessageText(), errorMessage);
+        if (plStatus != asynSuccess) {
+            return paramLibAccessFailed(plStatus, "motorMessageText_",
+                                        angleAxisNo, __PRETTY_FUNCTION__,
+                                        __LINE__);
+        }
+        plStatus = liftAxis->setStringParam(motorMessageText(), errorMessage);
+        if (plStatus != asynSuccess) {
+            return paramLibAccessFailed(plStatus, "motorMessageText_",
+                                        liftAxisNo, __PRETTY_FUNCTION__,
+                                        __LINE__);
+        }
+        plStatus =
+            supportAxis->setStringParam(motorMessageText(), errorMessage);
+        if (plStatus != asynSuccess) {
+            return paramLibAccessFailed(plStatus, "motorMessageText_",
+                                        supportAxisNo, __PRETTY_FUNCTION__,
+                                        __LINE__);
+        }
     }
-    plStatus = liftAxis->setStringParam(motorMessageText(), userMessage);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorMessageText_", liftAxisNo,
-                                    __PRETTY_FUNCTION__, __LINE__);
-    }
-    plStatus = supportAxis->setStringParam(motorMessageText(), userMessage);
-    if (plStatus != asynSuccess) {
-        return paramLibAccessFailed(plStatus, "motorMessageText_",
-                                    supportAxisNo, __PRETTY_FUNCTION__,
-                                    __LINE__);
-    }
-}
 
     // Update the working position state PV
     plStatus = angleAxis->setIntegerParam(positionStateRBV(), positionState);
@@ -1122,7 +1127,12 @@ if (userMessage[0] != '\0') {
         pollStatus = plStatus;
     }
 
-    // Reset the message text for the next poll cycle AFTER updating the PVs
+    /*
+    Reset the message text for the next poll cycle AFTER updating the PVs.
+    This makes sure that non-persistent error messages are shown for at least
+    one poll cycle, but are cleared afterwards. Persisting error messages will
+    be recreated during each poll.
+    */
     plStatus = angleAxis->setStringParam(motorMessageText(), "");
     if (plStatus != asynSuccess) {
         return paramLibAccessFailed(plStatus, "motorMessageText_", angleAxisNo,