From 1440fafc7d59ce0280827f65bdabced3f22f9f2a Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 9 Jun 2026 15:12:22 +0200
Subject: [PATCH] Fixed wrong limits after power cycle

---
 src/masterMacsAxis.cpp | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index e1724da..70967d6 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -793,9 +793,22 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
     }
 
-    // Update the enable PV
-    setAxisParamChecked(this, motorEnableRBV,
-                        readyToBeSwitchedOn() && switchedOn());
+    /*
+    If the motor just got enabled, we need to initialize it, because some
+    parameters like the limits on the motor controllers are lost during a power
+    cycle and are rewritten from the masterMacs "meta-controller" when enabling.
+    */
+    int wasEnabled = 0;
+    int isEnabled = readyToBeSwitchedOn() && switchedOn();
+
+    getAxisParamChecked(this, motorEnableRBV, &wasEnabled);
+    if (isEnabled && !wasEnabled) {
+        rwStatus = init();
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
+        }
+    }
+    setAxisParamChecked(this, motorEnableRBV, isEnabled);
 
     if (*moving) {
         // If the axis is moving, evaluate the movement direction