diff --git a/sinqMotor b/sinqMotor
index 6f639d7..2578081 160000
--- a/sinqMotor
+++ b/sinqMotor
@@ -1 +1 @@
-Subproject commit 6f639d7233823ad1dcdf00cf98cf76f9cd14aea0
+Subproject commit 2578081814943129175fbb6ec329ec7531f59b8b
diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index d54dcfb..f23115a 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -190,8 +190,9 @@ asynStatus masterMacsAxis::init() {
     double motVelocity = 0.0;
     double motVmax = 0.0;
     double motAccel = 0.0;
-    double motMode = 0;
-    double motCanSetMode = 0;
+    int motMode = 0;
+    int dynamicLimits = 0;
+    int motCanSetMode = 0;
 
     // =========================================================================
 
@@ -298,11 +299,12 @@ asynStatus masterMacsAxis::init() {
     if (status != asynSuccess) {
         return status;
     }
-    nvals = sscanf(response, "%d", &pMasterMacsA_->dynamicLimits);
+    nvals = sscanf(response, "%d", &dynamicLimits);
     if (nvals != 1) {
         return pC_->couldNotParseResponse("R32", response, axisNo_,
                                           __PRETTY_FUNCTION__, __LINE__);
     }
+    pMasterMacsA_->dynamicLimits = bool(dynamicLimits);
 
     // Check the current motor mode
     status = pC_->read(axisNo_, 07, response);
@@ -1176,6 +1178,43 @@ asynStatus masterMacsAxis::enable(bool on) {
     return asynError;
 }
 
+asynStatus masterMacsAxis::setMode(int mode) {
+    // masterMacs can be disabled
+    if (pasynUser->reason == motorSetMode()) {
+
+        // First call to the sinqController function. It checks whether it is
+        // possible to set the mode and whether the given value is valid.
+        asynStatus status = sinqController::writeInt32(pasynUser, value);
+        if (status == asynSuccess) {
+
+            // Now write to the hardware
+            char command[MAXBUF_];
+            int axisNo;
+            getAddress(pasynUser, &axisNo);
+
+            // Map the EPICS value to MasterMACS values (see
+            // MasterMACS_manual.pdf).
+            int adjustedValue = 0;
+            if (value == 0) {
+                adjustedValue = 1;
+            } else if (value == 1) {
+                adjustedValue = 3;
+            } else {
+                // This branch is unreachable, as it is is already checked
+                // within sinqController::writeInt32 that value is either 0
+                // or 1.
+                return asynError;
+            }
+
+            snprintf(command, sizeof(value), "%d", adjustedValue);
+            return write(axisNo, 07, command);
+        }
+        return status;
+    } else {
+        return sinqController::writeInt32(pasynUser, value);
+    }
+}
+
 bool masterMacsAxis::needInit() { return pMasterMacsA_->needInit; }
 
 /**
diff --git a/src/masterMacsAxis.h b/src/masterMacsAxis.h
index 695a8f3..5759479 100644
--- a/src/masterMacsAxis.h
+++ b/src/masterMacsAxis.h
@@ -130,6 +130,15 @@ class HIDDEN masterMacsAxis : public sinqAxis {
      */
     asynStatus enable(bool on);
 
+    /**
+     * @brief Write the new operation mode (position or velocity) to the
+     * MasterMACS controller.
+     *
+     * @param mode
+     * @return asynStatus
+     */
+    asynStatus masterMacsAxis::setMode(int mode);
+
     /**
      * @brief Read the encoder type (incremental or absolute) for this axis
      * from the MCU and store the information in the PV ENCODER_TYPE.
diff --git a/src/masterMacsController.cpp b/src/masterMacsController.cpp
index d9cc639..dc24442 100644
--- a/src/masterMacsController.cpp
+++ b/src/masterMacsController.cpp
@@ -574,44 +574,6 @@ asynStatus masterMacsController::readInt32(asynUser *pasynUser,
     }
 }
 
-asynStatus masterMacsController::writeInt32(asynUser *pasynUser,
-                                            epicsInt32 value) {
-    // masterMacs can be disabled
-    if (pasynUser->reason == motorSetMode()) {
-
-        // First call to the sinqController function. It checks whether it is
-        // possible to set the mode and whether the given value is valid.
-        asynStatus status = sinqController::writeInt32(pasynUser, value);
-        if (status == asynSuccess) {
-
-            // Now write to the hardware
-            char command[MAXBUF_];
-            int axisNo;
-            getAddress(pasynUser, &axisNo);
-
-            // Map the EPICS value to MasterMACS values (see
-            // MasterMACS_manual.pdf).
-            int adjustedValue = 0;
-            if (value == 0) {
-                adjustedValue = 1;
-            } else if (value == 1) {
-                adjustedValue = 3;
-            } else {
-                // This branch is unreachable, as it is is already checked
-                // within sinqController::writeInt32 that value is either 0
-                // or 1.
-                return asynError;
-            }
-
-            snprintf(command, sizeof(value), "%d", adjustedValue);
-            return write(axisNo, 07, command);
-        }
-        return status;
-    } else {
-        return sinqController::writeInt32(pasynUser, value);
-    }
-}
-
 double masterMacsController::comTimeout() { return pMasterMacsC_->comTimeout; }
 
 int masterMacsController::nodeReset() { return pMasterMacsC_->nodeReset; }
diff --git a/src/masterMacsController.h b/src/masterMacsController.h
index 271e668..ca09e64 100644
--- a/src/masterMacsController.h
+++ b/src/masterMacsController.h
@@ -54,15 +54,6 @@ class HIDDEN masterMacsController : public sinqController {
      */
     asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
 
-    /**
-     * @brief Overloaded version of the sinqController version
-     *
-     * @param pasynUser
-     * @param value
-     * @return asynStatus
-     */
-    asynStatus writeInt32(asynUser *pasynUser, epicsInt32 *value);
-
     /**
      * @brief Get the axis object
      *
@@ -84,7 +75,8 @@ class HIDDEN masterMacsController : public sinqController {
     /**
      * @brief Overloaded function of sinqController
      *
-     * The function is overloaded to allow resetting the node
+     * The function is overloaded to allow resetting the node and changing the
+     * operation mode.
      *
      * @param pasynUser           Specify the axis via the asynUser
      * @param value               New value